We present a prediction based controller for heterogeneous platoons with actuation delay. By using a prediction of the ego vehicle’s acceleration and compensating the ego vehicle’s influence on the error dynamics, we obtain a controller that achieves input-to-state stability (ISS) with respect to the preceding vehicle’s acceleration. The result is a controller that does not require driveline information of the preceding vehicle, which enables platooning in a heterogeneous setting. An analysis is presented of the string stability properties of the system with both actuation and communication delays. The effectiveness of the controller is shown in simulation.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Prediction Based Cooperative Adaptive Cruise Control for Heterogeneous Platoons with Delays


    Weitere Titelangaben:

    Lect.Notes Mechanical Engineering


    Beteiligte:
    Mastinu, Giampiero (Herausgeber:in) / Braghin, Francesco (Herausgeber:in) / Cheli, Federico (Herausgeber:in) / Corno, Matteo (Herausgeber:in) / Savaresi, Sergio M. (Herausgeber:in) / de Haan, Redmer (Autor:in) / der Sande, Tom van (Autor:in) / Lefeber, Erjen (Autor:in)

    Kongress:

    Advanced Vehicle Control Symposium ; 2024 ; Milan, Italy September 01, 2024 - September 05, 2024



    Erscheinungsdatum :

    04.10.2024


    Format / Umfang :

    7 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch