Consensus-based bi-directional CACC for vehicular platooning

Zegers, J.C.; Semsar-Kazerooni, Elham; Ploeg, Jeroen; van de Wouw, N.; Nijmeijer, H.

Consensus-based bi-directional CACC for vehicular platooning

Conference paper (2016)

Authors

J.C. Zegers TNO

Elham Semsar-Kazerooni TNO

Jeroen Ploeg TNO

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

H. Nijmeijer Eindhoven University of Technology

Distributed control Consensus Intelligent transportation systems Vehicular platooning

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Published Date

2016

Language

English

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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.