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

McAree, Owen; Veres, Sándor M.

doi:10.1109/ecc.2016.7810660

Cited by 5 publications

(6 citation statements)

References 12 publications

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“…The lateral control [3], [24] consists in keeping the vehicle in the middle of the road (or the lane) by tracking its median trajectory. Designing such functionality involves a trade-off between the ride quality and the system accuracy, just like for longitudinal control.…”

Section: Platooning Control Functionsmentioning

confidence: 99%

Distributed Object-Oriented Design of Autonomous Control Systems for Connected Vehicle Platoons

Mouelhi

Cancila

Ramdane-Chérif

2017

2017 22nd International Conference on Engineering of Complex Computer Systems (ICECCS)

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The contribution of this paper is articulated around a new software design approach of autonomous control systems for connected vehicle platoons. Our control system is distributed and real-time based on object-oriented component-based method of design that brakes with the industrial traditions subject to cyclic OS-free approaches. We illustrate our design by relevant case studies of the longitudinal speed control widely studied in industrial and academic research around automotive platooning. Our software is mainly implemented using the Ada standard of programming (in particular the annexes D and E of real-time and distributed systems). The distribution in our software is managed by the versatile middleware PolyORB. The control scenarios and communication aspects covered by the case studies are animated by wheeled robot prototypes commanded by single-board ARM Cortex computers under real-time Linux kernels. Index Terms-Embedded systems, distributed architectures, object-oriented components, real-time, smart automotive systems, vehicle platooning.

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Section: Platooning Control Functionsmentioning

confidence: 99%

Distributed Object-Oriented Design of Autonomous Control Systems for Connected Vehicle Platoons

Mouelhi

Cancila

Ramdane-Chérif

2017

2017 22nd International Conference on Engineering of Complex Computer Systems (ICECCS)

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“…However, due to the limitations of wireless devices, central servers, and various sensor technologies, the formation measurement and information transmission capabilities of early designs are limited. In the past 20 years, the rapid development of vehicle-to-vehicle (V2V), vehicle-to-roadside-units (V2I), vehicle-toeverything (V2X), Internet of Vehicles (IoV) technologies and the progress of communication technology have broadened the design ideas of vehicle formation controller [13][14][15]. More advanced vehicle control strategies are springing up [16][17][18][19][20].…”

Section: Related Work/literature Reviewmentioning

confidence: 99%

“…The main parameters in the controller are set in Table 1. [0, 0, 0, 0, 0, 0] m/s InitialPositions [18,15,12,9,6,3] Scenario A describes a typical driving scene: acceleration , steady speed, deceleration. The process can be divided into three stages, firstly accelerating for 20 s to a speed of 30 m/s, then holding speed for 15 s, and finally decelerating to a stop within 10 s. The speed of the lead vehicle is controlled according to the Equation (37).…”

Section: Experimental Parameter Configurationmentioning

confidence: 99%

ELM-Based Non-Singular Fast Terminal Sliding Mode Control Strategy for Vehicle Platoon

Wang

2022

Sustainability

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Vehicle platoon is one of the innovations in the automated highway systems, which has the potential to reduce fuel consumption, alleviate traffic congestion and lighten the driver’s burden. How to control the vehicle effectively to ensure the stability of the queue is a challenge. Aiming to overcome the shortcomings of the platoon control method based on traditional sliding mode control, a non-singular terminal sliding mode control method optimized by the extreme learning machine is proposed in this paper. Firstly, the vehicle longitudinal dynamics are derived from the analysis of the forces acting on the vehicle in the longitudinal direction. A constant time headway policy is taken as the spacing policy. The modified non-singular terminal sliding mode control method has outstanding performance, simulation results demonstrate that the following vehicles can rapidly track the trajectory of the leading vehicle in the platoon with less spacing error and guarantee string stability. In this study, several experiments are set up to consider the disturbance and other uncertain practical factors. The performance of the proposed method is superior to the traditional sliding mode control method. Experimental results show that the proposed method can significantly reduce chattering and has good robustness under the circumstances of the disturbance.

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“…However, in cooperative technologies the inputs are typically assumed to be continuously available and of sufficient quality, which usually is not the case in practical scenarios. Even in papers where the use of V2V communication for state estimation or control is discussed [16,32,33], practical impairments such as limited update rates and high measurement noise are not always included in the analysis.…”

Section: Introductionmentioning

confidence: 99%

State Estimation for Cooperative Lateral Vehicle Following Using Vehicle-to-Vehicle Communication

2021

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A cooperative state estimation framework for automated vehicle applications is presented and demonstrated via simulations, the estimation framework is used to estimate the state of a lead and following vehicle simultaneously. Recent developments in the field of cooperative driving require novel techniques to ensure accurate and stable vehicle following behavior. Control schemes for the cooperative control of longitudinal and lateral vehicle dynamics generally require vehicle state information about the lead vehicle, which in some cases cannot be accurately measured. Including vehicle-to-vehicle communication in the state estimation process can provide the required input signals for the practical implementation of cooperative control schemes. This study is focused on demonstrating the benefits of using vehicle-to-vehicle communication in the state estimation of a lead and following vehicle via simulations. The state estimator, which uses a cascaded Kalman filtering process, takes the operating frequencies of different sensors into account in the estimation process. Simulation results of three different driving scenarios demonstrate the benefits of using vehicle-to-vehicle communication as well as the attenuation of measurement noise. Furthermore, in contrast to relying on low frequency measurement data for the input signals of cooperative control schemes, the state estimator provides a state estimate at every sample.

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

Cited by 5 publications

References 12 publications

Distributed Object-Oriented Design of Autonomous Control Systems for Connected Vehicle Platoons

Distributed Object-Oriented Design of Autonomous Control Systems for Connected Vehicle Platoons

ELM-Based Non-Singular Fast Terminal Sliding Mode Control Strategy for Vehicle Platoon

State Estimation for Cooperative Lateral Vehicle Following Using Vehicle-to-Vehicle Communication

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