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.
Original language | English |
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Title of host publication | Proceedings of the American Control Conference (ACC 2016) |
Editors | K. Johnson, G. Chiu, D. Abramovitch |
Place of Publication | Piscataway, NJ, USA |
Publisher | IEEE |
Pages | 2578-2584 |
ISBN (Electronic) | 978-1-4673-8682-1 |
ISBN (Print) | 978-1-4673-8683-8 |
DOIs | |
Publication status | Published - 2016 |
Event | American Control Conference (ACC), 2016 - Boston, MA, United States Duration: 6 Jul 2016 → 8 Jul 2016 |
Conference
Conference | American Control Conference (ACC), 2016 |
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Abbreviated title | ACC 2016 |
Country/Territory | United States |
City | Boston, MA |
Period | 6/07/16 → 8/07/16 |
Keywords
- Consensus
- Distributed control
- Intelligent transportation systems
- Vehicular platooning