Cooperative adaptive cruise control: an artificial potential field approach

E. Semsar-Kazerooni; J. Verhaegh; J. Ploeg; M. Alirezaei

doi:10.1109/IVS.2016.7535411

Cooperative adaptive cruise control: an artificial potential field approach

E. Semsar-Kazerooni, J. Verhaegh, J. Ploeg, M. Alirezaei

Dynamics and Control

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

47 Citations (Scopus)

3 Downloads (Pure)

Abstract

In this paper, in addition to the main functionality of vehicle following, cooperative adaptive cruise control (CACC) is enabled with additional features of gap closing and collision avoidance. Due to its nonlinear nature, a control objective such as collision avoidance, cannot be addressed using a linear controller such as a PD controller. However, the artificial potential functions can be adopted to design controllers which accommodate multiple (nonlinear) control objectives in a single design. By defining an appropriate control law, the system state is always driven to the minima of the designed potential function which guarantees the required performance of the system.

Original language	English
Title of host publication	Proceedings of the IEEE Intelligent Vehicles Symposium
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	361-367
Number of pages	7
ISBN (Electronic)	978-1-5090-1821-5
DOIs	https://doi.org/10.1109/IVS.2016.7535411
Publication status	Published - 1 Jun 2016
Event	2016 IEEE Intelligent Vehicles Symposium, IV 2016 - Gothenburg, Sweden Duration: 19 Jun 2016 → 22 Jun 2016

Conference

Conference	2016 IEEE Intelligent Vehicles Symposium, IV 2016
Abbreviated title	IV 2016
Country/Territory	Sweden
City	Gothenburg
Period	19/06/16 → 22/06/16

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10.1109/IVS.2016.7535411

Cite this

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title = "Cooperative adaptive cruise control: an artificial potential field approach",

abstract = "In this paper, in addition to the main functionality of vehicle following, cooperative adaptive cruise control (CACC) is enabled with additional features of gap closing and collision avoidance. Due to its nonlinear nature, a control objective such as collision avoidance, cannot be addressed using a linear controller such as a PD controller. However, the artificial potential functions can be adopted to design controllers which accommodate multiple (nonlinear) control objectives in a single design. By defining an appropriate control law, the system state is always driven to the minima of the designed potential function which guarantees the required performance of the system.",

keywords = "adaptive control, collision avoidance, control system synthesis, cooperative systems, nonlinear control systems, road traffic control, road vehicles, velocity control, CACC, artificial potential field approach, artificial potential functions, collision avoidance, control law, controller design, cooperative adaptive cruise control, gap closing, multiple nonlinear control objectives, road vehicles, system state, vehicle following functionality, collision avoidance, control design, cruise control, PD control, robots, vehicle dynamics, vehicles",

author = "E. Semsar-Kazerooni and J. Verhaegh and J. Ploeg and M. Alirezaei",

year = "2016",

month = jun,

day = "1",

doi = "10.1109/IVS.2016.7535411",

language = "English",

pages = "361--367",

booktitle = "Proceedings of the IEEE Intelligent Vehicles Symposium",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "2016 IEEE Intelligent Vehicles Symposium, IV 2016, IV 2016 ; Conference date: 19-06-2016 Through 22-06-2016",

}

Semsar-Kazerooni, E, Verhaegh, J, Ploeg, J & Alirezaei, M 2016, Cooperative adaptive cruise control: an artificial potential field approach. in Proceedings of the IEEE Intelligent Vehicles Symposium. Institute of Electrical and Electronics Engineers, Piscataway, pp. 361-367, 2016 IEEE Intelligent Vehicles Symposium, IV 2016, Gothenburg, Sweden, 19/06/16. https://doi.org/10.1109/IVS.2016.7535411

Cooperative adaptive cruise control: an artificial potential field approach. / Semsar-Kazerooni, E.; Verhaegh, J.; Ploeg, J. et al.
Proceedings of the IEEE Intelligent Vehicles Symposium. Piscataway: Institute of Electrical and Electronics Engineers, 2016. p. 361-367.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Ploeg, J.

AU - Alirezaei, M.

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N2 - In this paper, in addition to the main functionality of vehicle following, cooperative adaptive cruise control (CACC) is enabled with additional features of gap closing and collision avoidance. Due to its nonlinear nature, a control objective such as collision avoidance, cannot be addressed using a linear controller such as a PD controller. However, the artificial potential functions can be adopted to design controllers which accommodate multiple (nonlinear) control objectives in a single design. By defining an appropriate control law, the system state is always driven to the minima of the designed potential function which guarantees the required performance of the system.

AB - In this paper, in addition to the main functionality of vehicle following, cooperative adaptive cruise control (CACC) is enabled with additional features of gap closing and collision avoidance. Due to its nonlinear nature, a control objective such as collision avoidance, cannot be addressed using a linear controller such as a PD controller. However, the artificial potential functions can be adopted to design controllers which accommodate multiple (nonlinear) control objectives in a single design. By defining an appropriate control law, the system state is always driven to the minima of the designed potential function which guarantees the required performance of the system.

KW - adaptive control, collision avoidance, control system synthesis, cooperative systems, nonlinear control systems, road traffic control, road vehicles, velocity control, CACC, artificial potential field approach, artificial potential functions, collision av

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M3 - Conference contribution

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BT - Proceedings of the IEEE Intelligent Vehicles Symposium

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CY - Piscataway

T2 - 2016 IEEE Intelligent Vehicles Symposium, IV 2016

Y2 - 19 June 2016 through 22 June 2016

ER -

Cooperative adaptive cruise control: an artificial potential field approach

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