DocumentCode :
1892086
Title :
An overview of vehicular platoon control under the four-component framework
Author :
Shengbo Eben Li ; Yang Zheng ; Keqiang Li ; Jianqiang Wang
Author_Institution :
Dept. of Automotive Eng., Tsinghua Univ., Beijing, China
fYear :
2015
fDate :
June 28 2015-July 1 2015
Firstpage :
286
Lastpage :
291
Abstract :
The platooning of autonomous ground vehicles has potential to largely benefit the road traffic, including enhancing highway safety, improving traffic utility and reducing fuel consumption. The main goal of platoon control is to ensure all the vehicles in the same group to move at consensual speed while maintaining desired spaces between adjacent vehicles. This paper presents an overview of vehicular platoon control techniques from networked control perspective, which naturally decomposes a platoon into four interrelated components, i.e., 1) node dynamics (ND), 2) information flow topology (IFT), 3) distributed controller (DC) and, 4) geometry formation (GF). Under the four-component framework, existing literature are categorized and analyzed according to their technical features. Three main performance metrics, i.e. string stability, stability margin and coherence behavior, are also discussed.
Keywords :
distributed control; mobile robots; networked control systems; road safety; road traffic control; road vehicles; stability; DC; GF; IFT; ND; autonomous ground vehicle; coherence behavior; distributed controller; four-component framework; fuel consumption reduction; geometry formation; highway safety enhancement; information flow topology; networked control; node dynamics; road traffic; stability margin; string stability; traffic utility improvement; vehicular platoon control; Asymptotic stability; Coherence; Numerical stability; Stability analysis; Topology; Vehicle dynamics; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Vehicles Symposium (IV), 2015 IEEE
Conference_Location :
Seoul
Type :
conf
DOI :
10.1109/IVS.2015.7225700
Filename :
7225700
Link To Document :
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