McAree, O. and Veres, S.M. (2017) Lateral control of vehicle platoons with on-board sensing and Inter-Vehicle Communication. In: 2016 European Control Conference (ECC). 2016 European Control Conference (ECC), 29 Jun - 01 Jul 2016, Aalborg, Denmark. IEEE . ISBN 978-1-5090-2591-6
Abstract
This paper presents a lateral control strategy for a platoon of vehicles which utilises only data which can realistically be measured by each vehicle, augmented with Inter-Vehicle Communication (IVC). The control problem resembles those which exist for longitudinal control and this introduces the challenge of estimating a vehicles lateral position and velocity when direct measurement is not possible (due to lane markings being obscured by a preceding vehicle). It is shown that the associated robust controller, which we propose, exhibits string stability in the presence of sensor and actuation delays and a high fidelity simulation is conducted to verify this.
Metadata
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Copyright, Publisher and Additional Information: | © 2016 IEEE. This is an author produced version of a paper subsequently published in Control Conference (ECC), 2016 European. Uploaded in accordance with the publisher's self-archiving policy. | ||||
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Institution: | The University of Sheffield | ||||
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) | ||||
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Depositing User: | Symplectic Sheffield | ||||
Date Deposited: | 02 Jun 2016 09:43 | ||||
Last Modified: | 19 Dec 2022 13:33 | ||||
Published Version: | https://doi.org/10.1109/ECC.2016.7810660 | ||||
Status: | Published | ||||
Publisher: | IEEE | ||||
Refereed: | Yes | ||||
Identification Number: | https://doi.org/10.1109/ECC.2016.7810660 |