In this paper, the problem of autonomous following was considered. The influence of rear end off-tracking and look-ahead distance was illustrated and three control methods were suggested, that adress the limitations of autonomous following without inter-vehicle communication. Lateral platoon string stability was introduced and it was shown that interconnected platoons without inter-vehicle communication theoretically can be stable with the tradeoff of poor performance. Finally, it was shown that the addition of inter-vehicle communication ensures lateral platoon stability and satisfactory performance by eliminating the interconnection among the vehicles. This is feasible when the monitoring devices are triggered to take measurements simultaneously, so that they create 'snapshot' of the vehicles' positions. Then, by communicating the sensor measurements, each vehicle is able to extract its position relative to the lead vehicle thus eliminating any interconnection with the rest of the vehicles in the platoon. The communication delay is then viewed as a simple delay to a system that is completely independent of the platoon followers and hence does not affect platoon stability. Simulation and experimental results were used to verify the analytical results.
Lateral control of platoons of vehicles on highways: the autonomous following based approach
Quersteuerung von Fahrzeuggruppen auf Autobahnen: unabhängiges Fahrzeugfluss-Regelverfahren
International Journal of Vehicle Design ; 36 , 1 ; 24-37
2004
14 Seiten, 7 Bilder, 14 Quellen
Article (Journal)
English
Autobahn , Anwendung im Fahrzeugbau , Anwendung in der Elektrotechnik und Elektronik , elektronische Steuerung , technische Entwicklung , fahrerloses Transportieren , Verkehrstechnik , Fahrzeugführung , Abstandsproblem , Abstandwarngerät , Straßenverkehr , Fahrzeugsicherheit , Querrichtung , Positionsmessung , mechanische Stabilität , Folgesteuerung und -regelung , Fahrverhalten , Kraftfahrzeug , Regelungssystem , Regelungstheorie
Lateral control of platoons of vehicles on highways: The autonomous following based approach
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