Guidance and control of a platoon of vehicles adapted to changing environment conditions
نویسندگان
چکیده
This paper describes the decentralized longitudinal control of a ten-vehicle platoon. An adapted time-headway distance approach is adopted, i.e., that each vehicle has to respect a “time-to-contact” with its preceding vehicle. The adaptation is made relatively to the vehicle dynamics and the road conditions. A twolevel longitudinal controller is developed using the Linear Quadratic Regulor (LQR) and feedback linearization methods. String stability analysis is discussed resulting in a definition for the adopted control strategy. A pentic polynomial guidance algorithm is used to limit the acceleration when a vehicle is reaching a platoon. Simulations showing the leader velocity variation for normal, icy and snowy roads and the pentic guidance approach are presented.
منابع مشابه
Internal and string stability analyses of longitudinal platoon of vehicles with communication delay and actuator lag under constant spacing policy
This paper studies the longitudinal control of a group of vehicles following a lead vehicle. A neighbor based upper level controller is proposed by considering communication delay and actuator lag. Constant spacing policy is used between successive vehicles. Two different approaches based on Lyapunov-Razumikhin and Lyapuniv-Krassovski theorems are presented to stability analysis...
متن کاملThird-order Decentralized Safe Consensus Protocol for Inter-connected Heterogeneous Vehicular Platoons
In this paper, the stability analysis and control design of heterogeneous traffic flow is considered. It is assumed that the traffic flow consists of infinite number of cooperative non-identical vehicular platoons. Two different networks are investigated in stability analysis of heterogeneous traffic flow: 1) inter-platoon network which deals with the communication topology of lead vehicles and...
متن کاملA new virtual leader-following consensus protocol to internal and string stability analysis of longitudinal platoon of vehicles with generic network topology under communication and parasitic delays
In this paper, a new virtual leader following consensus protocol is introduced to perform the internal and string stability analysis of longitudinal platoon of vehicles under generic network topology. In all previous studies on multi-agent systems with generic network topology, the control parameters are strictly dependent on eigenvalues of network matrices (adjacency or Laplacian). Since some ...
متن کاملDecentralized Guidance, Navigation, and Control for Platoons of Cooperating UUVs
The objectives of this effort are to develop: (1) control synthesis methods for control algorithms that can be distributed among a platoon of UUVs with minimal inter-vehicle communication requirements, (2) centralized control algorithms that are easily synthesized, generate multi-objective behaviors for a platoon of vehicles, and may potentially be distributed among a platoon of UUVs, (3) decen...
متن کاملModelling and Simulation of Cooperative Control for Bus Rapid Transit Vehicle Platoon in a Connected Vehicle Environment
The aim of this paper is to develop a cooperative control model for improving the operational efficiency of Bus Rapid Transit (BRT) vehicles. The model takes advantage of the emerging connected vehicle technology. A connected vehicle centre is established to assign a specific reservation time interval and transmit the corresponding dynamic speed guidance to each BRT vehicle. Furthermore, a set ...
متن کامل