車群位置推定のための補間型分散協調オブザーバとオンライン更新

抄録

This paper considers an interpolated distributed cooperative observer design and its online update for the situation that intelligent transport systems (ITS) and vehicles estimate vehicle platoons' positions in a two-dimensional plane. ITS observes some vehicles' absolute positions, and each vehicle interpolates its position based on the observed relative distance to the surrounding vehicles and the vehicles' estimated position. The observers of each vehicle use the interpolated positions to estimate their vehicles' positions. The interpolated positions are updated depending on the communication status of the surrounding vehicles using sparse modeling. We provide a distributed search algorithm to generate the shortest communication path that can share the estimated position among the observers in a short time. These methods enable us to estimate the distributed position of vehicle platoons under the condition that the positional relationship between vehicles changes on a two-dimensional plane.