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Lateral control of vehicle platoons

S. Solyom ; Arash Idelchi (Institutionen för signaler och system) ; Badr Bin Salamah (Institutionen för signaler och system)
Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013 (1062-922X). p. 4561-4565. (2013)
[Konferensbidrag, refereegranskat]

Vehicle platoons are fully automated vehicles driving in close proximity of each other, where both distance keeping and steering is under automatic control. This paper is aiming at a variant of vehicle platoons, where the lateral control is using forward looking sensors, i.e. camera, radar. Such a system solution implies that the vehicle dynamics are coupled together laterally, in contrast to the classical look-down solutions. For such a platoon, lateral string stability is an important property that the controller needs to guarantee. This article proposes a method for designing such a distributed controller. It also examines the effect of model uncertainties on the lateral string stability of the platoon for the proposed method.

Nyckelord: Distributed control , String stability , Vehicle platoon

Denna post skapades 2015-05-05. Senast ändrad 2016-10-28.
CPL Pubid: 216415


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Institutionen för signaler och system (1900-2017)


Transportteknik och logistik

Chalmers infrastruktur