Decentralized lateral and longitudinal control of vehicle platoons with constant headway spacing
Wijnbergen, Paul ; Jeeninga, Mark LU
; de Haan, Redmer
and Lefeber, Erjen
(2023)
p.1420-1426
- Abstract
- The formation of platoons, where groups of vehicles follow each other at close distances, has the potential to increase road capacity. In this paper, a decentralized control approach is presented that extends the well-known constant headway vehicle following approach to the two-dimensional case, i.e., lateral control is included in addition to the longitudinal control. The presented control scheme employs a direct vehicle following approach where each vehicle in the platoon is responsible for following the directly preceding vehicle according to a nonlinear spacing policy. The proposed constant headway spacing policy is motivated by an approximation of a delay-based spacing policy and results in a generalization of the constant headway... (More)
- The formation of platoons, where groups of vehicles follow each other at close distances, has the potential to increase road capacity. In this paper, a decentralized control approach is presented that extends the well-known constant headway vehicle following approach to the two-dimensional case, i.e., lateral control is included in addition to the longitudinal control. The presented control scheme employs a direct vehicle following approach where each vehicle in the platoon is responsible for following the directly preceding vehicle according to a nonlinear spacing policy. The proposed constant headway spacing policy is motivated by an approximation of a delay-based spacing policy and results in a generalization of the constant headway spacing policy to the two-dimensional case. By input-output linearization, necessary and sufficient conditions for the tracking of the nonlinear spacing policy are obtained, which motivate the synthesis of the lateral and longitudinal controllers of each vehicle in the platoon. By deriving an internal state representation of the follower vehicle and showing input-to-state stability, the internal dynamics for each leader-follower subsystem are shown to be well-behaved in case the leader drives in steady state conditions (i.e., the leader vehicle’s trajectory is unexcited). The results are illustrated by a simulation. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/79f82ad1-ea9e-4b96-aa03-73915a929264
- author
- Wijnbergen, Paul
; Jeeninga, Mark
LU
; de Haan, Redmer
and Lefeber, Erjen
- organization
- publishing date
- 2023-12-13
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Proceedings of the 2023 62nd IEEE Conference on Decision and Control
- pages
- 1420 - 1426
- external identifiers
-
- scopus:85184796881
- ISBN
- 979-8-3503-0123-6
- DOI
- 10.1109/CDC49753.2023.10383788
- language
- English
- LU publication?
- yes
- id
- 79f82ad1-ea9e-4b96-aa03-73915a929264
- date added to LUP
- 2024-01-14 17:16:54
- date last changed
- 2024-03-15 04:01:24
@inproceedings{79f82ad1-ea9e-4b96-aa03-73915a929264,
abstract = {{The formation of platoons, where groups of vehicles follow each other at close distances, has the potential to increase road capacity. In this paper, a decentralized control approach is presented that extends the well-known constant headway vehicle following approach to the two-dimensional case, i.e., lateral control is included in addition to the longitudinal control. The presented control scheme employs a direct vehicle following approach where each vehicle in the platoon is responsible for following the directly preceding vehicle according to a nonlinear spacing policy. The proposed constant headway spacing policy is motivated by an approximation of a delay-based spacing policy and results in a generalization of the constant headway spacing policy to the two-dimensional case. By input-output linearization, necessary and sufficient conditions for the tracking of the nonlinear spacing policy are obtained, which motivate the synthesis of the lateral and longitudinal controllers of each vehicle in the platoon. By deriving an internal state representation of the follower vehicle and showing input-to-state stability, the internal dynamics for each leader-follower subsystem are shown to be well-behaved in case the leader drives in steady state conditions (i.e., the leader vehicle’s trajectory is unexcited). The results are illustrated by a simulation.}},
author = {{Wijnbergen, Paul and Jeeninga, Mark and de Haan, Redmer and Lefeber, Erjen}},
booktitle = {{Proceedings of the 2023 62nd IEEE Conference on Decision and Control}},
isbn = {{979-8-3503-0123-6}},
language = {{eng}},
month = {{12}},
pages = {{1420--1426}},
title = {{Decentralized lateral and longitudinal control of vehicle platoons with constant headway spacing}},
url = {{http://dx.doi.org/10.1109/CDC49753.2023.10383788}},
doi = {{10.1109/CDC49753.2023.10383788}},
year = {{2023}},
}