Automated vehicle platooning bears high potential to increase traffic efficiency, improve road safety, and reduce fuel consumption. To realize platoons with small inter-vehicle distances, collision safety is the most crucial concern and needs to be considered carefully. Moreover, it is desired to attenuate disturbances along the platoon which is known as string stability. While model predictive control concepts achieve efficient, situation-aware, and safe platooning, establishing string stability properties is difficult. In this work string stability is characterized for a generic feedback setting. A workflow to design an extended time gap spacing policy is proposed for a safety-extended distributed model predictive platooning controller. It provides safe, tightly-packed platoon operation with robust string stability near steady-state even without vehicle-to-vehicle- V2V-communication. Platoon performance is further improved by exploiting V2V-communication. Finally, the resulting closed-loop platoon dynamics are validated in a high-fidelity co-simulation study.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    String Stable and Collision-Safe Model Predictive Platoon Control


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    01.10.2022


    Format / Umfang :

    3541991 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    A safe stable directional vehicular platoon

    Ghasemi, Ali / Rouhi, Saeed | SAGE Publications | 2015


    A safe stable directional vehicular platoon

    Ghasemi,A. / Rouhi,S. / Islamic Azad Univ,IR | Kraftfahrwesen | 2015


    A safe stable directional vehicular platoon

    Ali Ghasemi | Online Contents | 2014



    Distributed MPC-Based String Stable Platoon Control of Networked Vehicle Systems

    Wang, Jiange / Li, Xiaolei / Park, Ju H. et al. | IEEE | 2023

    Freier Zugriff