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An Observer-based Longitudinal Control of Car-like Vehicles Platoon Navigating in an Urban Environment
- Source :
- CDC 2019-58th IEEE Conference on Decision and Control, CDC 2019-58th IEEE Conference on Decision and Control, Dec 2019, Nice, France. pp.5735-5741, CDC
- Publication Year :
- 2019
- Publisher :
- HAL CCSD, 2019.
-
Abstract
- International audience; In this paper, we study longitudinal motion controlof car-like vehicles platoon navigating in an urban environmentwith minimum communication links. To achieve a higher trafficflow, a constant-spacing policy between successive vehicles iscommonly used but this is at a cost of an increased number ofcommunication links as any vehicle information must broadcastto all its followers. Therefore, we propose a distributed observer-based control law that depends both on communicated andmeasured information. Our formulation allows designing thecontrol law directly in the curvilinear coordinates. Internal andstring stability analysis are conducted. We provide simulationresults, through dynamic vehicular mobility simulator, to illus-trate the feasibility of the proposed approach and corroborate our theoretical findings.
- Subjects :
- 0209 industrial biotechnology
Observer (quantum physics)
Computer science
020208 electrical & electronic engineering
String (computer science)
Control (management)
Control engineering
02 engineering and technology
Aerodynamics
Motion control
Traffic flow
[SPI.AUTO]Engineering Sciences [physics]/Automatic
Vehicle dynamics
Acceleration
020901 industrial engineering & automation
11. Sustainability
0202 electrical engineering, electronic engineering, information engineering
Platoon
Subjects
Details
- Language :
- English
- Database :
- OpenAIRE
- Journal :
- CDC 2019-58th IEEE Conference on Decision and Control, CDC 2019-58th IEEE Conference on Decision and Control, Dec 2019, Nice, France. pp.5735-5741, CDC
- Accession number :
- edsair.doi.dedup.....870fced7d09b6c1bfc36d1c59c638b2f