Abstract
The automation of vehicle steering is necessary in order to guarantee safe vehicle following in short-distance vehicle following applications. A necessary (safety) requirement for such automation strategy is lateral string stability. In this paper, a design for cooperative lateral controllers is proposed that yields a laterally string-stable platoon. The dynamics of the vehicles in the platoon are described using the dynamic bicycle model. The proposed controller is designed using the H∞ control framework which achieves firstly, lateral string stability and, secondly, path-following, where the path is induced by the preceding vehicle in the platoon. Such control design approach is taken since it allows for the inclusion of the string-stability requirement as an a-priori design specification. The properties of the designed controller are evaluated by means of frequency domain analysis and numerical simulations and compared with a benchmark controller.
Original language | English |
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Pages (from-to) | 826-842 |
Number of pages | 17 |
Journal | Vehicle System Dynamics |
Volume | 58 |
Issue number | 5 |
DOIs | |
Publication status | Published - 3 May 2020 |
Keywords
- Connected vehicle
- lateral control
- vehicle following
- vehicle platooning