The vehicle platoon controller in the decentralised, autonomous intersection management of vehicles

Neuendorf, N.; Bruns, Torsten

doi:10.1109/icmech.2004.1364468

Cited by 24 publications

(8 citation statements)

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“…Zero steady state error can be observed after t=30 in Figure 8 once all vehicles are in the same segment of the path. The temporal gap maintenance strategy used in the car-following controller described in Section III does not satisfy the platoon stability definition summarized by [12]. While the vehicles are able to avoid collisions with the preceding vehicle, deviations from other vehicles appear to increase toward the rear of the platoon.…”

Section: E Longitudinal Controlmentioning

confidence: 98%

Modeling and control of a platoon of autonomous buses

Lam

Katupitiya

2013

2013 IEEE Intelligent Vehicles Symposium (IV)

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This paper presents the autonomous platoon formations that could be used to form a platoon of buses on dedicated roadways. A non-linear dynamic model and a pathfollowing and car-following controller are presented and their performance evaluated. Using the dynamic model a platoon of three vehicles is simulated along a multi-segment reference path, demonstrating the adequate lateral and longitudinal performance required for simulations of scale, meaning the operation of multiple vehicles in a convoy or the coordinated operation of multiple convoys. The models and controller presented here will form the basis for future research involving simulations of autonomous vehicles when maneuvering through a series of complex intersections and roadways.

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Section: E Longitudinal Controlmentioning

confidence: 98%

Modeling and control of a platoon of autonomous buses

Lam

Katupitiya

2013

2013 IEEE Intelligent Vehicles Symposium (IV)

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“…The string stability of a vehicle platoon is one of the major points to be considered when the controllers are developed [4], [12] in order to avoid negative side effects on traffic flow or safety. In what follows it is assumed that all vehicles in the platoon are identical.…”

Section: String Stabilitymentioning

confidence: 99%

Longitudinal control of vehicle platoons for stop-and-go waves mitigation

Caruntu

Copot

Lazăr

et al. 2014

2014 18th International Conference on System Theory, Control and Computing (ICSTCC)

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The increased traffic flow on both existing highways and city roads leads to the appearance of stop-and-go waves which have many disadvantages, e.g., increased risk of accidents, higher fuel consumption, increased pollution, increased wear of vehicle mechanical parts, driving stress and passenger discomfort. The platooning of vehicles could be the solution to this problem by enforcing them to follow each other and to maintain a safe distance between them. The advantages brought by this solution depend on ensuring the string stability of the vehicle platoon. In this paper the leader-follower system is employed to illustrate the stop-and-go waves mitigation. Several controllers (P, PI) were designed based on the conditions that have to be met in order to ensure the string stability of the vehicle platoon and comparisons were made with a controller based on the driver behavior.

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“…We call autonomous intersection [8,[10][11][12], an intersection that is managed without any visible signalization. Autonomous intersection decides the sequence of robots that cross the intersection instead of computing the green time given to a particular movement.…”

Section: Autonomous Intersectionmentioning

confidence: 99%

On the conflict with dioid algebra: Autonomous Intersection Management

Abbas-Turki

Ahmane

Gao

et al. 2012

2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA)

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Abstract-Autonomous Intersection Management (AIM) is an intersection through which vehicles are independently directed according to a given policy. This is an innovative approach based on a positioning system and on the wireless negotiation of the "right of way". However, AIM raises the issue of the feasibility that is strongly related to whether the vehicles are able to cross the intersection without collisions. In this paper, instead of vehicles we used robots in order to prototype an elementary AIM. For that, we present a Petri net model of an elementary AIM. The Petri net model is used to define a centralized protocol that allows the robots to cross the intersection without collisions. This protocol uses an event observer that controls the distribution of "rights of way" to the robots. The event observer is based on a linear system of inequalities under constraints. An elementary AIM of robots is developed. Tests show that the protocol allows a safe intersection with two different scheduling algorithms. Although delayed and several losses of messages, collisions and deadlocks are avoided by means of the event observer.

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The vehicle platoon controller in the decentralised, autonomous intersection management of vehicles

Cited by 24 publications

References 0 publications

Modeling and control of a platoon of autonomous buses

Modeling and control of a platoon of autonomous buses

Longitudinal control of vehicle platoons for stop-and-go waves mitigation

On the conflict with dioid algebra: Autonomous Intersection Management

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