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 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
Vehicle System Dynamics ; 58 , 5 ; 826-842
2020-05-03
17 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch