Platoons are defined as a group of closely-spaced vehicles. Among them the first is the lead car controlled and the following vehicles attempts to maintain a desired spacing between itself and the preceding vehicle. A platoon is thus a higher level dynamical construct, composed of smaller dynamical units. When a vehicle enters a platoon lane, control of the car is handed over from the driver to the car's on-board computer. Alternative platooning control strategies with respect to worst case behavior were presented. The motivation is to provide platoon control designers with an objective means of evaluating robustness in the face of system uncertainties. The approach can be viewed as an extension of optimal control procedures and is applicable to complex, nonlinear systems. An arbitrary number of uncertain parameters, unmodeled components and inputs are allowed. The end result is a lower bound for the worst case performance. To determine the worst case performance of a platoon over all conditions would require changing each uncertain parameter in every vehicle in combination with every other uncertain parameter, every vehicle make, and all possible input trajectories, an approach that is clearly computationally prohibitive. To ameliorate this simulation, an algorithm was utilized which leaded to worst case performance scenarios without requiring such extensive simulation. The simulation results show that the current controller performance is unacceptable under worst case platoon operation. Although the lead car acceleration commands were under 0.2 g, spacing errors reached 3 m and two cars collided during the simulation. This would suggest the need for further controller design that ensures robustness against the parametric variations produced by the worst case algorithm.
An approach to determining worst case platoon behavior
Optimalwertregelung eines Fahrzeugkonvois und Robustheitsuntersuchung für den ungünstigsten Fall
Vehicle System Dynamics ; 28 , 6 ; 357-383
1997
27 Seiten, 11 Bilder, 10 Quellen
Article (Journal)
English
An Approach to Determining Worst Case Platoon Behavior
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