The automation of vehicle steering is necessary in order to guarantee safe vehicle following in short-distance vehicle following applications. A necessary (safety) requirement for such automation strategy is lateral string stability. In this paper, a design for cooperative lateral controllers is proposed that yields a laterally string-stable platoon. The dynamics of the vehicles in the platoon are described using the dynamic bicycle model. The proposed controller is designed using the H ∞ control framework which achieves firstly, lateral string stability and, secondly, path-following, where the path is induced by the preceding vehicle in the platoon. Such control design approach is taken since it allows for the inclusion of the string-stability requirement as an a-priori design specification. The properties of the designed controller are evaluated by means of frequency domain analysis and numerical simulations and compared with a benchmark controller.
String-stable automated steering in cooperative driving applications
2020-05-03
Hassanain , O , Alirezaei , M , Ploeg , J & Wouw , N V D 2020 , ' String-stable automated steering in cooperative driving applications ' , Vehicle System Dynamics , vol. 58 , no. 5 , pp. 826-842 . https://doi.org/10.1080/00423114.2020.1749288
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
String-stable automated steering in cooperative driving applications
Taylor & Francis Verlag | 2020
|