Combined lateral and longitudinal CACC for a unicycle-type platoon

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

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Uittreksel


This paper presents the controller design for combined lateral and longitudinal Cooperative Adaptive Cruise Control (CACC) for a unicycle-type platoon with emphasis on the cornering maneuvers. A decentralized controller for lateral and longitudinal behavior is designed using input-output linearization by static feedback. A preceding vehicle look-ahead approach is adapted in the controller to maintain desired inter-vehicle distance. However, due to the position control of the look-ahead point, the follower vehicle may cut corners on turns. In this paper, the extension of a look-ahead point that is able to compensate the cutting-corner behavior is then proposed. To validate the theoretical analysis, the full nonlinear system together with the developed controller is simulated for two scenarios, a circular path and a particular path scenario, and a comparison is made between the system with the preceding vehicle look-ahead and the extended look-ahead. The simulation shows that the proposed lateral and longitudinal controller using the extended look-ahead eliminates the cutting corner behavior.
Originele taal-2Engels
Titel2016 IEEE Intelligent Vehicles Symposium, 19-22 June 2016, Gothenburg, Sweden
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's502-507
DOI's
StatusGepubliceerd - 2016
Evenement2016 IEEE Intelligent Vehicles Symposium (IV) - Gothenburg, Zweden
Duur: 19 jun 201622 jun 2016

Congres

Congres2016 IEEE Intelligent Vehicles Symposium (IV)
Verkorte titelIV 2016
LandZweden
StadGothenburg
Periode19/06/1622/06/16

Vingerafdruk

Adaptive cruise control
Controllers
Position control
Linearization
Nonlinear systems
Feedback

Citeer dit

Bayuwindra, A., Aakre, O. L., Ploeg, J., & Nijmeijer, H. (2016). Combined lateral and longitudinal CACC for a unicycle-type platoon. In 2016 IEEE Intelligent Vehicles Symposium, 19-22 June 2016, Gothenburg, Sweden (blz. 502-507). Piscataway: Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IVS.2016.7535437
Bayuwindra, A. ; Aakre, O.L. ; Ploeg, J. ; Nijmeijer, H. / Combined lateral and longitudinal CACC for a unicycle-type platoon. 2016 IEEE Intelligent Vehicles Symposium, 19-22 June 2016, Gothenburg, Sweden. Piscataway : Institute of Electrical and Electronics Engineers, 2016. blz. 502-507
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abstract = "This paper presents the controller design for combined lateral and longitudinal Cooperative Adaptive Cruise Control (CACC) for a unicycle-type platoon with emphasis on the cornering maneuvers. A decentralized controller for lateral and longitudinal behavior is designed using input-output linearization by static feedback. A preceding vehicle look-ahead approach is adapted in the controller to maintain desired inter-vehicle distance. However, due to the position control of the look-ahead point, the follower vehicle may cut corners on turns. In this paper, the extension of a look-ahead point that is able to compensate the cutting-corner behavior is then proposed. To validate the theoretical analysis, the full nonlinear system together with the developed controller is simulated for two scenarios, a circular path and a particular path scenario, and a comparison is made between the system with the preceding vehicle look-ahead and the extended look-ahead. The simulation shows that the proposed lateral and longitudinal controller using the extended look-ahead eliminates the cutting corner behavior.",
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Bayuwindra, A, Aakre, OL, Ploeg, J & Nijmeijer, H 2016, Combined lateral and longitudinal CACC for a unicycle-type platoon. in 2016 IEEE Intelligent Vehicles Symposium, 19-22 June 2016, Gothenburg, Sweden. Institute of Electrical and Electronics Engineers, Piscataway, blz. 502-507, 2016 IEEE Intelligent Vehicles Symposium (IV), Gothenburg, Zweden, 19/06/16. https://doi.org/10.1109/IVS.2016.7535437

Combined lateral and longitudinal CACC for a unicycle-type platoon. / Bayuwindra, A.; Aakre, O.L.; Ploeg, J.; Nijmeijer, H.

2016 IEEE Intelligent Vehicles Symposium, 19-22 June 2016, Gothenburg, Sweden. Piscataway : Institute of Electrical and Electronics Engineers, 2016. blz. 502-507.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

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AB - This paper presents the controller design for combined lateral and longitudinal Cooperative Adaptive Cruise Control (CACC) for a unicycle-type platoon with emphasis on the cornering maneuvers. A decentralized controller for lateral and longitudinal behavior is designed using input-output linearization by static feedback. A preceding vehicle look-ahead approach is adapted in the controller to maintain desired inter-vehicle distance. However, due to the position control of the look-ahead point, the follower vehicle may cut corners on turns. In this paper, the extension of a look-ahead point that is able to compensate the cutting-corner behavior is then proposed. To validate the theoretical analysis, the full nonlinear system together with the developed controller is simulated for two scenarios, a circular path and a particular path scenario, and a comparison is made between the system with the preceding vehicle look-ahead and the extended look-ahead. The simulation shows that the proposed lateral and longitudinal controller using the extended look-ahead eliminates the cutting corner behavior.

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Bayuwindra A, Aakre OL, Ploeg J, Nijmeijer H. Combined lateral and longitudinal CACC for a unicycle-type platoon. In 2016 IEEE Intelligent Vehicles Symposium, 19-22 June 2016, Gothenburg, Sweden. Piscataway: Institute of Electrical and Electronics Engineers. 2016. blz. 502-507 https://doi.org/10.1109/IVS.2016.7535437