Controller Synthesis for String Stability of Vehicle Platoons

Cooperative adaptive cruise control (CACC) allows for short-distance automatic vehicle following using intervehicle wireless communication in addition to onboard sensors, thereby potentially improving road throughput. In order to fulfill performance, safety, and comfort requirements, a CACC-equipped...

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Vydáno v:IEEE transactions on intelligent transportation systems Ročník 15; číslo 2; s. 854 - 865
Hlavní autoři: Ploeg, Jeroen, Shukla, Dipan P., van de Wouw, Nathan, Nijmeijer, Henk
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York IEEE 01.04.2014
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Acceleration
Asymptotic stability
Cascaded systems
Controllers
cooperative adaptive cruise control (CACC)
Design engineering
Inclusions
Passengers
Stability
Stability criteria
string stability
Strings
Synthesis
Topology
Transfer functions
vehicle platoons
Vehicles
Wireless communication
Wireless communications
{\cal H}_{\infty} optimal control
string stability
cooperative adaptive cruise control (CACC)
Cascaded systems
vehicle platoons
{\cal H}_{\infty} optimal control
ISSN:1524-9050, 1558-0016
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Popis
Shrnutí:Cooperative adaptive cruise control (CACC) allows for short-distance automatic vehicle following using intervehicle wireless communication in addition to onboard sensors, thereby potentially improving road throughput. In order to fulfill performance, safety, and comfort requirements, a CACC-equipped vehicle platoon should be string stable, attenuating the effect of disturbances along the vehicle string. Therefore, a controller design method is developed that allows for explicit inclusion of the string stability requirement in the controller synthesis specifications. To this end, the notion of string stability is introduced first, and conditions for L 2 string stability of linear systems are presented that motivate the development of an H ∞ controller synthesis approach for string stability. The potential of this approach is illustrated by its application to the design of controllers for CACC for one- and two-vehicle look-ahead communication topologies. As a result, L 2 string-stable platooning strategies are obtained in both cases, also revealing that the two-vehicle look-ahead topology is particularly effective at a larger communication delay. Finally, the results are experimentally validated using a platoon of three passenger vehicles, illustrating the practical feasibility of this approach.
Bibliografie:ObjectType-Article-1
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ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2013.2291493