An Observer-based Longitudinal Control of Car-like Vehicles Platoon Navigating in an Urban Environment

Khalifa, Ahmed; Kermorgant, Olivier; Dominguez, Salvador; Martinet, Philippe

doi:10.1109/cdc40024.2019.9029187

Cited by 5 publications

(2 citation statements)

References 21 publications

(27 reference statements)

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“…Remark 3: If we design the parameter matrix K such that A − BK has the diagonal matrix format, based on the specific matrix format B in vehicle platooning dynamics (1), in addition to l ii > 0, we can guarantee that A − BK − l ii αBB T is a diagonal matrix and that Re(λ(A − BK − l ii αBB T )) < 0, ∀i ∈ I N 1 . Remark 4: Unlike the observer-based controller in [22] which requires the eigenvalue information (a piece of global information) of the communication graph for parameter design, our proposed controller does not need any eigenvalue information or any other global information and thus is fully distributed.…”

Section: Parameter Matrix L Designmentioning

confidence: 99%

“…• In addition, a bisection-like algorithm is incorporated into the above algorithm to obtain the minimum (within a tolerance) available value of the time headway. To the best of the authors' knowledge, this is the first effort towards controlling platoons under the directed MPF topology while having a leader of varying speed without any global information, such as eigenvalues of the communication graph (e.g., in [22]) or without a requirement that all followers need to know the (virtual) leader's information (e.g., in [19]). The authors have introduced a preliminary version [23] in which only the numeric method by trials and errors is used to design controller parameters while a theoretical algorithm based on a new calculation mechanism is proposed here to design controller parameters to guarantee the string stability.…”

Section: Introductionmentioning

confidence: 99%

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Observer-based Control for Vehicle Platooning with a Leader of Varying Speed

Jiang,

Abolfazli,

Charalambous

2021

Preprint

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This paper studies the internal stability and string stability of a vehicle platooning of constant time headway spacing policy with a varying-speed leader using a multiple-predecessor-following strategy via vehicle-to-vehicle communication. Unlike the common case in which the leader's speed is constant and different kinds of Proportional-Integral-Derivative controllers are implemented, in this case, the fact that the leader has a time-varying speed necessitates the design of an observer. First, in order to estimate its position, speed and acceleration error with respect to the leader, each follower designs an observer. The observer is designed by means of constructing an observer matrix whose parameters should be determined. We simplifies the design of the matrix of the observer in such a way that the design boils down to choosing a scalar value. The resulting observer turns out to have a third order integrator dynamics, which provides an advantage of simplifying the controller structure and, hence, derive conditions for string stability using a frequency response method. A new heuristic searching algorithm is developed to deduce the controller parameter conditions, given a fixed time headway, for string stability. Additionally, a bisection-like algorithm is incorporated into the above algorithm to obtain the minimum (with some deviation tolerance) available value of the time headway by fixing one controller parameter. The effectiveness of the internal and string stabilities of the proposed observer-based controller is demonstrated via comparison examples.

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Section: Parameter Matrix L Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Observer-based Control for Vehicle Platooning with a Leader of Varying Speed

Jiang,

Abolfazli,

Charalambous

2021

Preprint

View full text Add to dashboard Cite

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A cooperative energy efficient truck platoon lane-changing model preventing platoon decoupling in a mixed traffic environment

Zhou

et al. 2022

Journal of Intelligent Transportation Systems

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We derive time and energy-optimal control policies for a Connected Autonomous Vehicle (CAV) to complete lane change maneuvers in mixed traffic. The interaction between CAVs and Human-Driven Vehicles (HDVs) requires designing the best possible response of a CAV to actions by its neighboring HDVs. This interaction is formulated using a bilevel optimization setting with an appropriate behavioral model for an HDV's. Then, an iterated best response (IBR) method is used to determine a Nash equilibrium. However, we also show that when a common and simple-to-detect condition applies, the optimal lane-changing policy is in fact independent of HDV behavior with a CAV changing lanes by cooperating with another CAV in the target lane and always merging ahead of it. Thus, the dependence on the interaction between CAVs and HDVs may be eliminated in such cases. Simulation results are included to show the effectiveness of our controllers in terms of cost, safety guarantees, and disruption to the traffic flow when uncontrollable HDVs are present.

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A Reinforcement Learning-Based Vehicle Platoon Control Strategy for Reducing Energy Consumption in Traffic Oscillations

Cao

2021

IEEE Trans. Neural Netw. Learning Syst.

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An Observer-based Longitudinal Control of Car-like Vehicles Platoon Navigating in an Urban Environment

Cited by 5 publications

References 21 publications

Observer-based Control for Vehicle Platooning with a Leader of Varying Speed

Observer-based Control for Vehicle Platooning with a Leader of Varying Speed

A cooperative energy efficient truck platoon lane-changing model preventing platoon decoupling in a mixed traffic environment

A Reinforcement Learning-Based Vehicle Platoon Control Strategy for Reducing Energy Consumption in Traffic Oscillations

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