Consensus-based bi-directional CACC for vehicular platooning

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

doi:10.1109/ACC.2016.7525305

Consensus-based bi-directional CACC for vehicular platooning

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

Dynamics and Control

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

37 Citaten (Scopus)

3 Downloads (Pure)

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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-2	Engels
Titel	Proceedings of the American Control Conference (ACC), 6-8 July 2016, Boston, Massachusetts
Uitgeverij	American Automatic Control Council (AACC)
Pagina's	2578-2584
ISBN van geprinte versie	978-1-4673-8682-1
DOI's	https://doi.org/10.1109/ACC.2016.7525305
Status	Gepubliceerd - 2016
Evenement	2016 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. 2016 → 8 jul. 2016 http://acc2016.a2c2.org/

Congres

Congres	2016 American Control Conference (ACC 2016), July 6-8, 2016, Boston, MA, USA
Verkorte titel	ACC 2016
Land/Regio	Verenigde Staten van Amerika
Stad	Boston, MA
Periode	6/07/16 → 8/07/16
Internet adres	http://acc2016.a2c2.org/

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10.1109/ACC.2016.7525305

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@inproceedings{f818ffb2b2b74468ba60747d7f8ba684,

title = "Consensus-based bi-directional CACC for vehicular platooning",

abstract = "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.",

author = "J.C. Zegers and E. Semsar-Kazerooni and J. Ploeg and \{van de Wouw\}, N. and H. Nijmeijer",

year = "2016",

doi = "10.1109/ACC.2016.7525305",

language = "English",

isbn = "978-1-4673-8682-1",

pages = "2578--2584",

booktitle = "Proceedings of the American Control Conference (ACC), 6-8 July 2016, Boston, Massachusetts",

publisher = "American Automatic Control Council (AACC)",

note = "2016 American Control Conference (ACC 2016), July 6-8, 2016, Boston, MA, USA, ACC 2016 ; Conference date: 06-07-2016 Through 08-07-2016",

url = "http://acc2016.a2c2.org/",

}

Zegers, JC, 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. American Automatic Control Council (AACC), blz. 2578-2584, 2016 American Control Conference (ACC 2016), July 6-8, 2016, Boston, MA, USA, Boston, MA, Verenigde Staten van Amerika, 6/07/16. https://doi.org/10.1109/ACC.2016.7525305

Consensus-based bi-directional CACC for vehicular platooning. / Zegers, J.C.; Semsar-Kazerooni, E.; Ploeg, J. et al.
Proceedings of the American Control Conference (ACC), 6-8 July 2016, Boston, Massachusetts. American Automatic Control Council (AACC), 2016. blz. 2578-2584.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

TY - GEN

T1 - Consensus-based bi-directional CACC for vehicular platooning

AU - Zegers, J.C.

AU - Semsar-Kazerooni, E.

AU - Ploeg, J.

AU - van de Wouw, N.

AU - Nijmeijer, H.

PY - 2016

Y1 - 2016

N2 - 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.

AB - 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.

U2 - 10.1109/ACC.2016.7525305

DO - 10.1109/ACC.2016.7525305

M3 - Conference contribution

SN - 978-1-4673-8682-1

SP - 2578

EP - 2584

BT - Proceedings of the American Control Conference (ACC), 6-8 July 2016, Boston, Massachusetts

PB - American Automatic Control Council (AACC)

T2 - 2016 American Control Conference (ACC 2016), July 6-8, 2016, Boston, MA, USA

Y2 - 6 July 2016 through 8 July 2016

ER -

Consensus-based bi-directional CACC for vehicular platooning

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Congres

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