Distributed Adaptive Longitudinal Control for Uncertain Third-Order Vehicle Platoon in a Networked Environment

2018 ◽  
Vol 67 (10) ◽  
pp. 9183-9197 ◽  
Author(s):  
Yang Zhu ◽  
Feng Zhu
Keyword(s):  
Third Order ◽  
Longitudinal Control ◽  
Vehicle Platoon

A Systematic Multi-Vehicle Platooning and Platoon Merging: Strategy, Control, and Trajectory Generation

2014 ◽  
Author(s):  
Mohammad Goli ◽  
Azim Eskandarian
Keyword(s):  
Control Algorithm ◽  
Autonomous Vehicle ◽  
Trajectory Generation ◽  
Simulation Platform ◽  
Longitudinal Control ◽  
Vehicle Platooning ◽  
Vehicle Platoon ◽  
Strategy Control ◽  
Automated Highway ◽  
Merging Strategy

Problem of autonomous vehicle platooning in an automated highway setting has drawn many attentions, both in academia and industry, during last two decades. This paper studies the problem of vehicle platooning with a particular focus on merging control algorithm when one or several vehicle(s) merge(s) from the adjacent lane into the main vehicle platoon under longitudinal control. Different longitudinal controllers have been compared. A practical novel multi-vehicle merge-in strategy and an adaptive lateral trajectory generation method have been proposed. The proposed approach is then tested and verified in our newly developed simulation platform SimPlatoon.

scholarly journals A Third-Order Consensus Approach for Vehicle Platoon with Intervehicle Communication

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Jianzhong Chen ◽  
Dongyang Bai ◽  
Huan Liang ◽  
Yang Zhou
Keyword(s):  
Vehicle Dynamics ◽  
Necessary Condition ◽  
Dynamics Model ◽  
Consensus Approach ◽  
Consensus Protocol ◽  
Third Order ◽  
Vehicle Platooning ◽  
Vehicle Platoon ◽  
Vehicle Acceleration ◽  
Sufficient And Necessary Condition

A third-order consensus approach is proposed for the vehicle platoon. For addressing the platoon problem, a realistic, third-order vehicle dynamics model is used, and the spacing policy and the vehicle acceleration error are embedded into the consensus protocol. A sufficient and necessary condition of asymptotically stability is obtained for the vehicle platooning system. Numerical simulations for several traffic scenarios are carried out. The results demonstrate the effectiveness and the robustness of the presented approach.

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