Consensus control for vehicular platooning with velocity constraints

Journal article (2017)

Authors

J.C. Zegers TNO

Elham Semsar-Kazerooni TNO

Jeroen Ploeg TNO

N. van de Wouw Eindhoven University of Technology, University of Minnesota,

H. Nijmeijer Eindhoven University of Technology, University of Minnesota

Intelligent transportation systems Distributed control Consensus Vehicular platooning Velocity constraint.

To reference this document use:

http://resolver.tudelft.nl/uuid:b5735b4e-3813-4a34-bd65-21a8d1aa0ffa

More Info

expand_more

Published Date

2017

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Abstract

In this paper, a 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. As a particular case, the approach allows to consider bidirectional vehicle interaction, which improves the cohesion between vehicles in the platoon. Exponential stability of the platoon dynamics is evaluated, also in the challenging scenario in which a limitation on the velocity of one of the vehicles in the platoon is introduced. The theoretical results are experimentally validated using a three-vehicle platoon consisting of (longitudinally) automated vehicles equipped with wireless intervehicle communication and radar-based sensing.

Files

07972982.pdf

(pdf | 3.84 Mb)

Download not available