Gap Opening Controller Design to Accommodate Merges in Cooperative Autonomous Platoons

Wouter Scholte; Peter W.A. Zegelaar; Henk Nijmeijer

doi:10.1016/j.ifacol.2020.12.2327

Gap Opening Controller Design to Accommodate Merges in Cooperative Autonomous Platoons

Wouter Scholte (Corresponding author), Peter W.A. Zegelaar (Corresponding author), Henk Nijmeijer (Corresponding author)

Onderzoeksoutput: Bijdrage aan tijdschrift › Congresartikel › peer review

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In this paper, a cooperative platoon-based gap opening controller is developed. The intended application is gap creation in cooperative platoons to accommodate merges with spatial restrictions. Therefore, the main objective is to execute the maneuver in a predefined time. The controller design is based on a regular cooperative adaptive cruise control algorithm with an additional feedforward term for a desired gap. Experimental validation of the controller is performed with small mobile robots. The proposed control strategy is capable of opening the gap in a predefined time. In future work, this strategy can be used in the design of a merging algorithm specifically for CACC platoons.

Originele taal-2	Engels
Pagina's (van-tot)	15294-15299
Aantal pagina's	6
Tijdschrift	IFAC-PapersOnLine
Volume	53
Nummer van het tijdschrift	2
DOI's	https://doi.org/10.1016/j.ifacol.2020.12.2327
Status	Gepubliceerd - 1 jul. 2020
Evenement	21st World Congress of the International Federation of Aufomatic Control (IFAC 2020 World Congress) - Berlin, Duitsland Duur: 12 jul. 2020 → 17 jul. 2020 Congresnummer: 21 https://www.ifac2020.org/

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10.1016/j.ifacol.2020.12.2327

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abstract = "In this paper, a cooperative platoon-based gap opening controller is developed. The intended application is gap creation in cooperative platoons to accommodate merges with spatial restrictions. Therefore, the main objective is to execute the maneuver in a predefined time. The controller design is based on a regular cooperative adaptive cruise control algorithm with an additional feedforward term for a desired gap. Experimental validation of the controller is performed with small mobile robots. The proposed control strategy is capable of opening the gap in a predefined time. In future work, this strategy can be used in the design of a merging algorithm specifically for CACC platoons.",

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N2 - In this paper, a cooperative platoon-based gap opening controller is developed. The intended application is gap creation in cooperative platoons to accommodate merges with spatial restrictions. Therefore, the main objective is to execute the maneuver in a predefined time. The controller design is based on a regular cooperative adaptive cruise control algorithm with an additional feedforward term for a desired gap. Experimental validation of the controller is performed with small mobile robots. The proposed control strategy is capable of opening the gap in a predefined time. In future work, this strategy can be used in the design of a merging algorithm specifically for CACC platoons.

AB - In this paper, a cooperative platoon-based gap opening controller is developed. The intended application is gap creation in cooperative platoons to accommodate merges with spatial restrictions. Therefore, the main objective is to execute the maneuver in a predefined time. The controller design is based on a regular cooperative adaptive cruise control algorithm with an additional feedforward term for a desired gap. Experimental validation of the controller is performed with small mobile robots. The proposed control strategy is capable of opening the gap in a predefined time. In future work, this strategy can be used in the design of a merging algorithm specifically for CACC platoons.

KW - Autonomous vehicles

KW - Automotive control

KW - Closed-loop gain

KW - PD controllers

KW - Trajectory planning

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Gap Opening Controller Design to Accommodate Merges in Cooperative Autonomous Platoons

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