Consensus-based bi-directional CACC for vehicular platooning

J.C. Zegers, E. Semsar-Kazerooni, J. Ploeg, N. van de Wouw, H. Nijmeijer

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

13 Citaten (Scopus)
3 Downloads (Pure)

Samenvatting

In this paper, a novel distributed consensus control approach for vehicular platooning systems is proposed. In formalizing the underlying consensus problem, a realistic vehicle dynamics model is considered and a velocity-dependent spacing-policy between two consecutive vehicles is realized. For a generic communication topology, conditions for asymptotic platoon stability are proposed. As a particular case, these results allow to consider bi-directional vehicle interaction, which improves the coherence between the vehicles in the platoon. The theoretical results are experimentally validated using a three-vehicle platoon consisting of (longitudinally) automated vehicles equipped with wireless inter-vehicle communication and radar-based sensing.
Originele taal-2Engels
TitelProceedings of the American Control Conference (ACC), 6-8 July 2016, Boston, Massachusetts
UitgeverijAmerican Automatic Control Council (AACC)
Pagina's2578-2584
ISBN van geprinte versie978-1-4673-8682-1
DOI's
StatusGepubliceerd - 2016
Evenement2016 American Control Conference (ACC 2016), July 6-8, 2016, Boston, MA, USA - Boston Marriott Copley Place, Boston, MA, Verenigde Staten van Amerika
Duur: 6 jul 20168 jul 2016
http://acc2016.a2c2.org/

Congres

Congres2016 American Control Conference (ACC 2016), July 6-8, 2016, Boston, MA, USA
Verkorte titelACC 2016
LandVerenigde Staten van Amerika
StadBoston, MA
Periode6/07/168/07/16
Internet adres

    Vingerafdruk

Citeer dit

Zegers, J. C., Semsar-Kazerooni, E., Ploeg, J., van de Wouw, N., & Nijmeijer, H. (2016). Consensus-based bi-directional CACC for vehicular platooning. In Proceedings of the American Control Conference (ACC), 6-8 July 2016, Boston, Massachusetts (blz. 2578-2584). American Automatic Control Council (AACC). https://doi.org/10.1109/ACC.2016.7525305