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Platoon Control under a Novel Leader and Predecessor Following Scheme with the Use of an Advanced Aerodynamic Model

Hakan Köroğlu (Institutionen för signaler och system, Mekatronik) ; Maryam Mirzaei (Institutionen för tillämpad mekanik, Strömningslära) ; Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Sinisa Krajnovic (Institutionen för tillämpad mekanik, Strömningslära)
Journal of Dynamic Systems Measurement, and Control (0022-0434). (2017)
[Artikel, refereegranskad vetenskaplig]

The longitudinal platoon control problem is considered under a leader and predecessor following scheme with a novel velocity-dependent spacing policy. With this spacing policy, the steady-state inter-vehicle distances increase with increasing cruise velocity and more so for vehicles that are closer to the leader.} Since significant changes might be encountered in inter-vehicle distances during the travel due to the variations in the velocity of the leader, the problem is studied together with a more accurate modeling of aerodynamic effects within a platoon formation. Based on a standard feedback linearization approach, a dynamic output feedback synthesis problem is formulated with two H_infinity performance objectives. One of the performance objectives is linked to the string stability of the platoon formation, while the other can be shaped in a way to maintain small spacing errors without aggressive vehicle maneuvers. A synthesis procedure is then outlined based on linear matrix inequality optimization. The new control scheme is investigated for a three-vehicle platoon by using an advanced aerodynamic model developed based on extensive fluid dynamics simulations. It is observed in this investigation that a desirable platoon operation can be achieved even with a simple aerodynamic model, provided that the controller is designed in a way to ensure good disturbance attenuation. Nevertheless an accurate modeling of aerodynamic disturbances might be needed especially for the first vehicle after the leader when the cruising velocity varies over a wide range.

Nyckelord: vehicle platoons, longitudinal control, adaptive cruise control, automated vehicle, string stability, multi-objective optimal control, LMI optimization, aerodynamic modeling

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Denna post skapades 2017-09-08. Senast ändrad 2017-10-03.
CPL Pubid: 251791


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Institutioner (Chalmers)

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


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Chalmers infrastruktur