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A Distributed Model Predictive Control Approach to Active Steering Control of String Stable Cooperative Vehicle Platoon

Roozbeh Kianfar (Institutionen för signaler och system, Mekatronik) ; Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Jonas Fredriksson (Institutionen för signaler och system, Mekatronik)
Advances in Automotive Control (1474-6670). Vol. 7 (2013), 1, p. 750-755.
[Konferensbidrag, refereegranskat]

A distributed receding horizon approach is adopted for active steering control of a cooperative vehicle platoon in the lateral direction. String stability is enforced by translating the classical definition of string stability from frequency domain into time domain constraint. Each vehicle locally computes its own control action and broadcasts its intention to its follower. Any deviation from the intention of each vehicle from the predicted states is penalized and constrained in the optimization problem which is solved locally by the vehicles. The string stability condition is robust against uncertainty in the intent trajectory. The effectiveness of proposed approach is verified by simulation in a double lane change scenario.

Nyckelord: Platooning, Distributed control, Model predictive control, String stability, Cooperative driving

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Denna post skapades 2013-09-23. Senast ändrad 2017-06-28.
CPL Pubid: 183805


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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik (2005-2017)


Hållbar utveckling

Chalmers infrastruktur