Consensus Control for Vehicular Platooning With Velocity Constraints

Abstract

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 inter-vehicle communication and radar-based sensing.

On L∞ string stability of nonlinear bidirectional asymmetric heterogeneous platoon systems

“…This ap-proach has been also expanded in (Knorn et al, 2015) to mitigate the effects of time-varying measurement errors on the platoon. Finally, in (Monteil and Russo, 2017), nonlinear control protocols are studied but only stability is considered rather than string stability, while consensus-based approaches are explored in (di Bernardo et al, 2015) and (Zegers et al, 2017), where exponential stability is considered in the case where some of the vehicles in the platoon are subject to speed restrictions.…”

Towards connected autonomous driving: review of use-cases

“…On the other hand, in the headway policy, each May 21, 2018 Vehicle System Dynamics VFinal˙Journal˙Draft˙Towards*Connected*Autonomous*Driving (a) (b) Figure 1. a) Platoon scenario presented in [39] and b) platoon scenario presented in [40]. Grey arrows indicate the communication links carrying data among vehicles vehicle adapts the inter-vehicular distance linearly based on its own speed and the time headway where reducing the time headway will increase the achievable benefits from platooning.…”

“…For instance, in [39] it was shown that by including information from the vehicle ahead the lead vehicle (defined as second lead vehicle) into the control actions of subject vehicle 1 (see Figure 1a), it is possible to reduce the minimum time headways with respect to the case where only information from the lead vehicle was used without jeopardizing string stability. Another example is documented in [40] where it was proven that by including information from the following vehicle into the computation of the acceleration of the subject vehicle (see Figure 1b), it is possible to preserve the cooperative motion also when one of the vehicle in the string has limited speed performance compared to the other vehicles in the fleet. Thus, there is a proof from literature that varying the number of communication links has an effect on the string stability of a platoon.…”

An Observer-based Longitudinal Control of Car-like Vehicles Platoon Navigating in an Urban Environment

“…P. Martinet is with Inria Sophia Antipolis, France. model [6]. Despite the huge amount of relevant literature to date, few studies in the literature have handled the problem of platooning in the urban environment/path coordinates, e.g.…”

“…The string instability may result in a rear-end collision between any predecessor/follower vehicles. In the literature, there are six main approaches in designing a platoon controller, including Linear [11], Optimal [12], H ∞ -based [13], Sliding Mode [14], Model predictive [15], and Consensus-based controller [6]. In [8], [9], we present a consensus-based control algorithm that considers the motion of variable velocity platoon.…”