Combined longitudinal and lateral control design for string stable vehicle platooning within a designated lane

Author

Kianfar, Roozbeh ; Ali, Mohamed ; Falcone, Paolo ; Fredriksson, Jonas

Author_Institution

Dept. of Signals & Syst., Chalmers Univ. of Technol., Goteborg, Sweden

fYear

2014

fDate

8-11 Oct. 2014

Firstpage

1003

Lastpage

1008

Abstract

We propose a combined longitudinal and lateral control approach for vehicle platooning within a designated lane. We combine linear frequency and time domain methods, to design longitudinal control that ensures string stability while enforcing safety, comfort and actuator limitations. In addition, we design lateral control that accounts for speed variations induced by the longitudinal control as well as safety, comfort and actuator limitations using convex optimization methods.

Keywords

control system synthesis; convex programming; road safety; road traffic control; road vehicles; stability; time-domain analysis; velocity control; actuator limitations; comfort; convex optimization methods; designated lane; lateral control design; linear frequency; longitudinal control design; safety; speed variations; stability; string stable vehicle platooning; time domain methods; Acceleration; Frequency-domain analysis; Mathematical model; Stability analysis; Time-domain analysis; Vehicle dynamics; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Transportation Systems (ITSC), 2014 IEEE 17th International Conference on

Conference_Location

Qingdao

Type

conf

DOI

10.1109/ITSC.2014.6957819

Filename

6957819