An overview of vehicular platoon control under the four-component framework

Li, Shengbo Eben; Zheng, Yang; Li, Keqiang; Wang, Jianqiang

doi:10.1109/ivs.2015.7225700

Cited by 192 publications

(123 citation statements)

References 66 publications

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“…To this end, a platoon of vehicles can be viewed as an interconnected network of dynamic vehicular systems interacting through an underlying communication and sensing network. Since these networked vehicles aim at a synchronized behavior in terms of identical velocity and inter-vehicle distances, the platoon control problem aligns well with the existing system-theoretic frameworks such as consensus seeking [7] and flocking [8], see also the overview of distributed multiagent coordination in [9] and the recent overview of vehicular platoon control under the four-component framework [27].…”

Section: Introductionmentioning

confidence: 67%

“…According to the statement of the theorem, the eigenvalues of matrixL are positive real, i.e., λ i {L} ∈ R + ∀i ∈ V, and the drive-line dynamics constant satisfies τ > 0. Employing the Routh-Hurwitz stability criterion [23] results in the necessary and sufficient conditions as given in (27) for all matrices in (26) being Hurwitz. These conditions are also necessary and sufficient for the left upper matrix in the system matrix in (21) being Hurwitz, see Lemma 1.…”

Section: Frameworkmentioning

confidence: 99%

“…These conditions are also necessary and sufficient for the left upper matrix in the system matrix in (21) being Hurwitz, see Lemma 1. As a result, the conditions in (27) are necessary and sufficient for the entire closed-loop dynamics (21) being exponentially stable. Hence, Theorem 1 is proven.…”

Section: Frameworkmentioning

confidence: 99%

“…Hence, Theorem 1 is proven. Note that the stability conditions (27) do not depend on the time gap h. This is mainly achieved by the use of the precompensator (18). In case this is not used as such, the stability conditions would be affected by the time gap h, as also shown in [19].…”

Section: Frameworkmentioning

confidence: 99%

See 3 more Smart Citations

Consensus Control for Vehicular Platooning With Velocity Constraints

Zegers¹,

Semsar-Kazerooni²,

Ploeg³

et al. 2018

IEEE Trans. Contr. Syst. Technol.

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Abstract-In this paper, a distributed consensus control approach for vehicular platooning systems is proposed. In formalizing the underlying consensus problem, a realistic vehicle dynamics model is considered and a velocity-dependent spacing-policy between two consecutive vehicles is realized. As a particular case, the approach allows to consider bidirectional vehicle interaction, which improves the cohesion between vehicles in the platoon. Exponential stability of the platoon dynamics is evaluated, also in the challenging scenario in which a limitation on the velocity of one of the vehicles in the platoon is introduced. The theoretical results are experimentally validated using a three-vehicle platoon consisting of (longitudinally) automated vehicles equipped with wireless inter-vehicle communication and radar-based sensing.

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Section: Introductionmentioning

confidence: 67%

Section: Frameworkmentioning

confidence: 99%

Section: Frameworkmentioning

confidence: 99%

Section: Frameworkmentioning

confidence: 99%

See 2 more Smart Citations

Consensus Control for Vehicular Platooning With Velocity Constraints

Zegers¹,

Semsar-Kazerooni²,

Ploeg³

et al. 2018

IEEE Trans. Contr. Syst. Technol.

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“…For instance, [17] presents a cooperative adaptive cruise control (CACC) design with the predecessor-follower information, [5] develops a sliding-mode control with the leader-follower information, [18] adopts the gas-kinetic theory to model the mixed traffic of manual and ACC vehicles, [19] studies the influence of information flow topology on the internal stability and scalability of homogeneous vehicular platoons moving in a rigid formation, and more studies can be found in the recent surveys [1], [20] and references there-in. Among different control strategies, the consensus-based approach has recently been applied into the platoon control [6], [8], [21], because it can efficiently facilitate the convergence of collective behavior among multiple agents [22], and that can well adapt to the characteristics of the time-varying communication topology of IVC.…”

Section: A Platoon Control Algorithmsmentioning

confidence: 99%

A Joint Control–Communication Design for Reliable Vehicle Platooning in Hybrid Traffic

Bing-yi

Jia

et al. 2017

IEEE Trans. Veh. Technol.

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Abstract-Recent studies have shown that traffic safety and efficiency can be substantially improved by vehicle platooning, in which vehicles periodically broadcast their kinetic status to neighbors, known as beacon message dissemination. As a networked control system, vehicle platoon has attracted significant attention from both the control and networking areas. However, few studies consider the practical traffic scenario with both platoons and individual vehicles, and the proposed beaconing schemes lack the deep understanding of relationship between the beaconing performance and the requirements of the control mechanism. To address these challenging issues, we propose a joint controlcommunication design to achieve reliable vehicle platooning in a more realistic traffic scenario, wherein the traffic consists of both platoons and individual vehicles, and both periodic beacon messages and event-based safety messages shall be delivered together. Specifically, we first develop a comprehensive control-theoretical analysis to understand how the vehicular communication can affect features of platoon driving; based on the understanding, we then propose and analyze an adaptive platoon-based message dissemination scheme; finally, we conduct extensive numerical experiments to validate the effectiveness of the protocol and to confirm the accuracy of the our theoretical analysis.

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Adaptive fault‐tolerant platooning control for nonlinear homogeneous multiple autonomous vehicles under unreliable communication networks

Wang,

Park,

Liu

et al. 2024

Intl J Robust & Nonlinear

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This article presents a fault‐tolerant platooning control algorithm for a class of nonlinear homogeneous multi‐vehicle systems under unreliable network communication environment. The considered types of actuator failures in individual vehicle are loss‐in‐effectiveness, and bias faults. Suppose the communication network among vehicles is here described as a switching graph subject to intermittent communications. Unlike the existing results dealing with vehicle platoon under continuous communications, this article develops a hierarchical fault‐tolerant platooning control approach, under which, the multiple vehicle coordination platooning objective is ensured even in the cases of discontinuous communication faults and actuator failures. First, each following vehicle can estimate the desire reference information via cooperative adaptive virtual estimator even in intermittent communications. Second, the local fault‐tolerant controller with adaptive parameter update mechanism can guarantee the practical position and velocity of following vehicles asymptotically track the desire estimations. Finally, a simulation example of a team of autonomous vehicles is given to verify the effectiveness of the proposed method.

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An overview of vehicular platoon control under the four-component framework

Cited by 192 publications

References 66 publications

Consensus Control for Vehicular Platooning With Velocity Constraints

Consensus Control for Vehicular Platooning With Velocity Constraints

A Joint Control–Communication Design for Reliable Vehicle Platooning in Hybrid Traffic

Adaptive fault‐tolerant platooning control for nonlinear homogeneous multiple autonomous vehicles under unreliable communication networks

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