Cooperative adaptive cruise control: an artificial potential field approach

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

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

13 Citaties (Scopus)
2 Downloads (Pure)

Uittreksel

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.
Originele taal-2Engels
TitelProceedings of the IEEE Intelligent Vehicles Symposium
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's361-367
Aantal pagina's7
ISBN van elektronische versie978-1-5090-1821-5
DOI's
StatusGepubliceerd - 1 jun 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
Collision avoidance
Controllers

Trefwoorden

  • 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

Citeer dit

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 (blz. 361-367). Piscataway: Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IVS.2016.7535411
Semsar-Kazerooni, E. ; Verhaegh, J. ; Ploeg, J. ; Alirezaei, M. / Cooperative adaptive cruise control: an artificial potential field approach. Proceedings of the IEEE Intelligent Vehicles Symposium. Piscataway : Institute of Electrical and Electronics Engineers, 2016. blz. 361-367
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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.",
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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, blz. 361-367, 2016 IEEE Intelligent Vehicles Symposium (IV), Gothenburg, Zweden, 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.; Alirezaei, M.

Proceedings of the IEEE Intelligent Vehicles Symposium. Piscataway : Institute of Electrical and Electronics Engineers, 2016. blz. 361-367.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

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