Artificial potential functions for control of automated vehicles

E. Semsar-Kazerooni, J. Ploeg, K. Elferink, H. Nijmeijer

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Abstract

In this abstract, a nonlinear vehicle-following control strategy is presented. With a proper choice of an artificial potential function, in addition to vehicle following, other requirements in terms of a smooth gap closing and collision avoidance are embedded in the control design. The choice of a specific controller associated with the selected potential function is motivated through evaluating performance metrics. The controller which has an overall best performance in terms of these metrics is used to realize the objectives of vehicle following, gap closing, and collision avoidance in a vehicle platoon.
Original languageEnglish
Title of host publicationProceedings of the 9th European Nonlinear Dynamics Conference
Number of pages2
ISBN (Electronic)978-963-12-9168-1
Publication statusPublished - 1 Jun 2017
Event9th European Nonlinear Oscillations Conference, ENOC 2017 - Budapest University of Technology and Economics, Budapest, Hungary
Duration: 25 Jun 201730 Jun 2017
Conference number: 9
http://congressline.hu/enoc2017/

Conference

Conference9th European Nonlinear Oscillations Conference, ENOC 2017
Abbreviated titleENOC 2017
Country/TerritoryHungary
CityBudapest
Period25/06/1730/06/17
Internet address

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