Autonomous lateral following consideration for vehicle platoons

Papadimitriou, Iakovos; Lu, Gaung; Tomizuka, Masayoshi

doi:10.1109/aim.2003.1225129

Cited by 13 publications

(11 citation statements)

References 11 publications

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“…If string-stability holds, a disturbance in the system will always attenuate as it propagates throughout the platoon. This approach is different from the one discussed in [12] and [13], where the norm is considered instead of the norm. That former approach imposes a condition on the infinity norm as well as having the sign of the impulse response of be non-changing which proved to be difficult to analyse.…”

Section: Definition Of String Stabilitymentioning

confidence: 99%

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Lateral Control of Vehicle Platoons

Solyom¹,

Idelchi

Salamah

2013

2013 IEEE International Conference on Systems, Man, and Cybernetics

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The notion of vehicles moving in platoons is of considerable interest when seeking to decrease traffic congestion and gas consumption. This usually means automated operation in longitudinal and possibly lateral direction. This report focuses on the lateral dynamics and control of a vehicle platoon following a leader in the lateral direction. A thorough system modelling and analysis is conducted and different classical control approaches discussed. It is noted that overshoot cannot be avoided in the system when using reasonable feedback controllers, due to the inherent characteristics of the plant. The concept of string stability (i.e damping the propagation of errors in the platoon) is covered along with different communication topologies, which under certain assumptions will guarantee stability. It is noted that solely communicating the preceding vehicle's lateral error will not result in string stability. A novel compensation is introduced taking into account information from several vehicles, which is proven to give a string stable system.

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Section: Definition Of String Stabilitymentioning

confidence: 99%

“…Let denote the measured lateral error from vehicle to vehicle , in [12] and [13] A platoon of vehicles is said to be string stable in the norm sense if for every [ ],…”

Section: Definition Of String Stabilitymentioning

confidence: 99%

Lateral Control of Vehicle Platoons

Solyom¹,

Idelchi

Salamah

2013

2013 IEEE International Conference on Systems, Man, and Cybernetics

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“…An alternative to using a camera to detect the relative position of the leader is to use a laser scanner, which is employed by Tomizuka (2003, 2004), Papadimitriou, Lu, and Tomizuka (2003), and Wang, Pham, Low, and Tan (2006). To test autonomous steering control, Papadimitriou et al (2003) conducted low-speed experiments over short distances and reported lateral errors that stayed under 0.13 m. Using the same test vehicle as Papadimitriou et al (2003), Lu and Tomizuka manually kept the follower's speed and intervehicle distance at 8.9 m/s and 10 m, respectively, and report a maximum lateral deviation from the road center of around 1 m. The maximum lateral error was improved to about 0.20 m when intervehicle communications were added to transmit the leader's deviation from the road center in Lu and Tomizuka (2004).…”

Section: Moving Reference Framementioning

confidence: 99%

“…To test autonomous steering control, Papadimitriou et al (2003) conducted low-speed experiments over short distances and reported lateral errors that stayed under 0.13 m. Using the same test vehicle as Papadimitriou et al (2003), Lu and Tomizuka manually kept the follower's speed and intervehicle distance at 8.9 m/s and 10 m, respectively, and report a maximum lateral deviation from the road center of around 1 m. The maximum lateral error was improved to about 0.20 m when intervehicle communications were added to transmit the leader's deviation from the road center in Lu and Tomizuka (2004). But, in both Lu and Tomizuka (2003) and Lu and Tomizuka (2004), the experimental data shown are only about 60 s. Dealing with robustness to system failure, Wang et al (2006) present two separate control systems for their vehicle's front and back wheels.…”

Section: Moving Reference Framementioning

confidence: 99%

Vision‐based autonomous convoying with constant time delay

Goi

Giesbrecht

Barfoot

et al. 2010

Journal of Field Robotics

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This paper describes the design and experimental validation of a vision-based vehicle-following system that uses only onboard sensors to enable a convoy of follower vehicles to autonomously track the trajectory of a manually driven lead vehicle. The tracking is done using the concept of a constant time delay, in which a follower tracks the delayed trajectory of its leader. This constant-time-delay approach allows for new techniques to be used to estimate the speed and heading of the leader. Experiments were conducted with full-sized military vehicles on a 1.3-km test track. Successful field trials with one follower for 10 laps and with two followers for 13.5 laps, totaling over 30 km, are presented. C 2010 Government of Canada. Exclusive worldwide publication rights in the article have been transferred to Wiley Periodicals, Inc., A Wiley Company.

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“…It has been demonstrated that in order to achieve string stability for lateral control, IVC is necessary [13] and some work has been conducted which does not require a direct estimate of lateral position [14]. This paper presents a novel approach which first attempts to estimate the lateral position of the vehicle from sensor and IVC information, then control this value using similar techniques to those developed for longitudinal control.…”

Section: Introductionmentioning

confidence: 99%

Lateral control of vehicle platoons with on-board sensing and inter-vehicle communication

McAree

Veres

2016

2016 European Control Conference (ECC)

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Abstract-This paper presents a lateral control strategy for a platoon of vehicles which utilises only data which can realistically be measured by each vehicle, augmented with InterVehicle Communication (IVC). The control problem resembles those which exist for longitudinal control and this introduces the challenge of estimating a vehicles lateral position and velocity when direct measurement is not possible (due to lane markings being obscured by a preceding vehicle). It is shown that the associated robust controller, which we propose, exhibits string stability in the presence of sensor and actuation delays and a high fidelity simulation is conducted to verify this.

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Autonomous lateral following consideration for vehicle platoons

Cited by 13 publications

References 11 publications

Lateral Control of Vehicle Platoons

Lateral Control of Vehicle Platoons

Vision‐based autonomous convoying with constant time delay

Lateral control of vehicle platoons with on-board sensing and inter-vehicle communication

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