In this paper, we present a novel look-ahead concept for combined longitudinal and lateral vehicle following control for a car-like platoon. A nonlinear controller structure, which is based on Cooperative Adaptive Cruise Control, is designed for the lateral and longitudinal direction. For practical implementation and cost efficiency, a preceding vehicle look-ahead approach is considered since it utilizes the already available information (such as preceding vehicle position, orientation, and velocity) from radar and vehicle-to-vehicle communication. However, due to the position control in the look-ahead approach, the follower vehicle may cut corners. To overcome this problem, the look-ahead is extended to a point perpendicular to the direction of the preceding vehicle, which can be viewed as a virtual preceding vehicle tracking objective. To demonstrate the effectiveness of the designed controller with the extended look-ahead approach, simulations are performed and further validated with experiments on a mobile robot platform. The results prove the effectiveness of the extended look-ahead approach.
Combined longitudinal and lateral control of car-like vehicle platooning with extended look-ahead
2020-05-01
Bayuwindra , A , Ploeg , J , Lefeber , E & Nijmeijer , H 2020 , ' Combined longitudinal and lateral control of car-like vehicle platooning with extended look-ahead ' , IEEE Transactions on Control Systems Technology , vol. 28 , no. 3 , 8635477 , pp. 790-803 . https://doi.org/10.1109/TCST.2019.2893830
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Extended Look-Ahead Tracking Controller with Orientation-Error Observer for Vehicle Platooning
BASE | 2020
|Vehicle platooning with constant spacing strategies and multiple vehicle look ahead information
Wiley | 2020
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