Lateral Vehicle Following in a Cooperative Vehicle Platooning Application: An Happroach

Daniel Van Den Berg*, Chris Van Der Ploeg, Mohsen Alirezaei, Nathan Van De Wouw

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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Abstract

Lateral control in the absence of lane markings is an essential safety fallback for an autonomous vehicle in cooperative driving applications. Point following control is one such solutions for lateral control. However, it suffers from corner cutting and severe disturbance amplification throughout the platoon. In this paper, a new model for controller synthesis is proposed which supports including the error induced by the road curvature in the communication between two vehicles. This enables the trailing vehicle to deduce the actual road error states, which negates steady-state corner cutting if these errors are controlled to zero. To demonstrate the benefits of this new control model, an control framework is used to design a lateral controller which minimizes the lateral overshoot of the vehicles during transient maneuvering. The proposed approach has been evaluated using numerical simulations. Simulation results show that the lateral overshoot can be reduced by a factor 10 with respect to existing lateral control solutions.

Original languageEnglish
Title of host publicationProceedings of the European Control Conference, ECC 2021
PublisherIEEE
Pages1802-1807
ISBN (Electronic)978-94-6384-236-5
DOIs
Publication statusPublished - 2021
Event2021 European Control Conference, ECC 2021 - Delft, Netherlands
Duration: 29 Jun 20212 Jul 2021

Conference

Conference2021 European Control Conference, ECC 2021
Country/TerritoryNetherlands
CityDelft
Period29/06/212/07/21

Bibliographical note

Accepted Author Manuscript

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