String Instability in Classes of Linear Time Invariant Formation Control With Limited Communication Range

Middleton, Richard H.; Braslavsky, Julio H.

doi:10.1109/tac.2010.2042318

Cited by 251 publications

(234 citation statements)

References 27 publications

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“…trucks and cars) on the stability of traffic flow (Ngoduy, 2015), the impact of heterogeneous parasitic time delays and lags on ACC-equipped vehicle longitudinal dynamics (Ling and Gao, 2011), etc. Specifically, due to the natural limitations and uncertainties in practical vehicular networking, such as transmission range, packet loss, and probabilistic transmission delay, substantial work has been concerning how to design the CDS under such communication constraints and uncertainties (Ghasemi et al, 2013, Hao and Barooah, 2012, Jin and Orosz, 2014, Kesting et al, 2010b, Middleton and Braslavsky, 2012, Oncu et al, 2011, Ploeg et al, 2013. This paper focuses on bridging the gap between traffic flow modeling and communication approaches in order to build up better cooperative systems via a realistic inter-communication design.…”

Section: Introductionmentioning

confidence: 99%

Platoon based cooperative driving model with consideration of realistic inter-vehicle communication

Jia

Ngoduy

2016

Transportation Research Part C: Emerging Technologies

228

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Recent developments of information and communication technologies (ICT) have enabled vehicles to timely communicate with each other through wireless technologies, which will form future (intelligent) traffic systems (ITS) consisting of so-called connected vehicles. Cooperative driving with the connected vehicles is regarded as a promising driving pattern to significantly improve transportation efficiency and traffic safety. Nevertheless, unreliable vehicular communications also introduce packet loss and transmission delay when vehicular kinetic information or control commands are disseminated among vehicles, which brings more challenges in the system modelling and optimization. Currently, no data has been yet available for the calibration and validation of a model for ITS, and most research has been only conducted for a theoretical point of view. Along this line, this paper focuses on the (theoretical) development of a more general (microscopic) traffic model which enables the cooperative driving behaviour via a so-called inter-vehicle communication (IVC). To this end, we design a consensus-based controller for the cooperative driving system (CDS) considering (intelligent) traffic flow that consists of many platoons moving together. More specifically, the IEEE 802.11p, the de-facto vehicular networking standard required to support ITS applications, is selected as the IVC protocols of the CDS, in order to investigate how the vehicular communications affect the features of intelligent traffic flow. This study essentially explores the relationship between IVC and cooperative driving, which can be exploited as the reference for the CDS optimization and design.

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Section: Introductionmentioning

confidence: 99%

Platoon based cooperative driving model with consideration of realistic inter-vehicle communication

Jia

Ngoduy

2016

Transportation Research Part C: Emerging Technologies

228

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“…In [91], a limited range of forward and backward vehicular communication was considered for a linear time-invariant platoon control system. The analysis and simulation results showed that although extra forward communication range can significantly reduce the rate of disturbance amplification, it does not avoid platoon stability problems in a qualitative sense.…”

Section: Cooperative Platoon Drivingmentioning

confidence: 99%

A Survey on Platoon-Based Vehicular Cyber-Physical Systems

Jia

Wang

et al. 2016

IEEE Commun. Surv. Tutorials

636

273

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Abstract-Vehicles on the road with some common interests can cooperatively form a platoon-based driving pattern, in which a vehicle follows another one and maintains a small and nearly constant distance to the preceding vehicle. It has been proved that, compared to driving individually, such a platoon-based driving pattern can significantly improve the road capacity and energy efficiency. Moreover, with the emerging vehicular adhoc network (VANET), the performance of platoon in terms of road capacity, safety and energy efficiency, etc., can be further improved. On the other hand, the physical dynamics of vehicles inside the platoon can also affect the performance of VANET. Such a complex system can be considered as a platoon-based vehicular cyber-physical system (VCPS), which has attracted significant attention recently. In this paper, we present a comprehensive survey on platoon-based VCPS. We first review the related work of platoon-based VCPS. We then introduce two elementary techniques involved in platoon-based VCPS: the vehicular networking architecture and standards, and traffic dynamics, respectively. We further discuss the fundamental issues in platoon-based VCPS, including vehicle platooning/clustering, cooperative adaptive cruise control (CACC), platoon-based vehicular communications, etc., and all of which are characterized by the tight coupled relationship between traffic dynamics and VANET behaviors. Since system verification is critical to VCPS development, we also give an overview of VCPS simulation tools. Finally, we share our view on some open issues that may lead to new research directions.Index Terms-Platoon, Cyber-physical system (CPS), Vehicular ad-hoc network (VANET), Platoon-based vehicular communications, Cooperative adaptive cruise control (CACC), Simulator.

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“…In the majority of the papers, string stability of vehicle formations are analyzed or controllers are designed with the assumption of specific and common control laws. Some exceptions in the field of analysis are by Middleton and Braslavsky (2010), Lestas and Vinnicombe (2006), Seiler et al (2004), Barooah and Hespanha (2005), and in the field of control synthesis by Shaw and Hedrick (2007a).…”

Section: Introductionmentioning

confidence: 99%

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

Rödönyi

2015

IFAC-PapersOnLine

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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.

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String Instability in Classes of Linear Time Invariant Formation Control With Limited Communication Range

Cited by 251 publications

References 27 publications

Platoon based cooperative driving model with consideration of realistic inter-vehicle communication

Platoon based cooperative driving model with consideration of realistic inter-vehicle communication

A Survey on Platoon-Based Vehicular Cyber-Physical Systems

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

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