Longitudinal Control of a Platoon of Vehicles

Sheikholeslam, Shahab; Desoer, C.

doi:10.23919/acc.1990.4790743

Cited by 241 publications

(111 citation statements)

References 6 publications

Supporting

Mentioning

109

Contrasting

Unclassified

Order By: Relevance

“…two integrators in the plant. It has been shown that such a homogeneous string of linear, time invariant subsystems with two integrators in the open loop is string unstable if a fixed distance x d between the vehicles is required, [3,7]. That is a small disturbance at the beginning of the string amplifies without bound while propagating down string.…”

Section: Preliminariesmentioning

confidence: 99%

“…[1][2][3][4][5]. To simplify communication requirements, and to achieve a controller design which does not depend on the string length, we consider the case where the automobiles are equipped with a local controller based on sensing the distance to the preceding vehicle.…”

Section: Introductionmentioning

confidence: 99%

“…It is not possible to achieve string stability in a homogeneous string of strictly proper feedback control systems with nearest neighbour communications if only linear systems with two integrators in the open loop and a constant inter-vehicle spacing is required, [3]. It has also been shown that this result is independent of the particular linear controller design, [7,10].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

String stability analysis of homogeneous linear unidirectionally connected systems with nonzero initial conditions

Klinge

Middleton

2009

IET Irish Signals and Systems Conference (ISSC 2009)

View full text Add to dashboard Cite

-This paper investigates string stability issues in homogeneous strings of strictly proper feedback control systems. We consider initial condition problems with unidirectional nearest neighbour communications, using only linear systems with two integrators in the loop. We define string stability as a type of stability that is uniform with respect to the string length. We show conditions under which the L2-norm and the L∞-norm of states are bounded and derive a formula for the minimal time headways required to guarantee string stability.

show abstract

Section: Preliminariesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

String stability analysis of homogeneous linear unidirectionally connected systems with nonzero initial conditions

Klinge

Middleton

2009

IET Irish Signals and Systems Conference (ISSC 2009)

View full text Add to dashboard Cite

show abstract

“…In order to increase road capacity and avoid congestions on highways vehicles can be organized in automated platoons, Sheikholeslam and Desoer (1990), Alvarez and Horowitz (1997). Based on local radar measurements and information shared over a communication network, onboard controllers have to keep a prescribed space between the vehicles.…”

Section: Introductionmentioning

confidence: 99%

Leader and Predecessor Following Robust Controller Synthesis for String Stable Heterogeneous Vehicle Platoons

Rödönyi

2015

IFAC-PapersOnLine

View full text Add to dashboard Cite

Conditions of string (in)stability for look-ahead interconnected vehicle systems are presented based on a compact characterization of the interconnected system. Continuous-time local models describe the temporal evolution of the state-variables of one vehicle. Discrete spatially varying systems describe the spatial evolution of local systems. The problem of string stability analysis of large scale interconnected systems is reduced to the stability analysis of two simple dynamic systems. The evaluation of worst-case spacing errors, as responses to bounded L 2 leader acceleration, can be upper-bounded by computing the step-response to a simple discrete linear system. Based on the compact characterization, it is also shown that the string stability requirement can be directly converted to a standard H ∞ control problem. The efficiency of the synthesis method is demonstrated on a numerical example.

show abstract

“…Functions of the first category include vehicle platooning, obstacle avoidance, and autonomous vehicle guidance [3]-[ 81. Examples of Intelligent Highway functions include automated toll booths, adaptive traffic signals, and centralized traffic control [9]-[ 121.…”

Section: Introductionmentioning

confidence: 99%

Probability-based decision making for automated highway driving

Niehaus

Stengel

1994

IEEE Trans. Veh. Technol.

View full text Add to dashboard Cite

Abstruct-Real-time, rule-based guidance systems for autonomous vehicles on limited-access highways are investigated. The goal of these systems is to plan trajectories that are safe, while satisfying the driver's requests based on stochastic information about the vehicle state and the surrounding traffic. A rule-based system is used for high-level planning. Given a stochastic model of the traffic situation driven by current measurements, the probable evolution of traffic and the best trajectory to follow are predicted. Simulation results assess the impact of uncertain knowledge of traffic on the performance of the guidance system, showing that uncertainty can and must be taken into account.

show abstract

Longitudinal Control of a Platoon of Vehicles

Cited by 241 publications

References 6 publications

String stability analysis of homogeneous linear unidirectionally connected systems with nonzero initial conditions

String stability analysis of homogeneous linear unidirectionally connected systems with nonzero initial conditions

Leader and Predecessor Following Robust Controller Synthesis for String Stable Heterogeneous Vehicle Platoons

Probability-based decision making for automated highway driving

Contact Info

Product

Resources

About