Motion control of vehicles in convoy

Summary form only given. Highway automation requires intelligent vehicle control in lateral and longitudinal direction. For the dynamical analysis of such controls a convoy of two passenger cars is used. The lecture presents the modeling of both vehicles using the method of multibody systems. Complex vehicle models are developed for simulation purposes which are supplemented by reduced vehicle models for control design. On the basis of these models different control concepts are introduced for the lateral control including PID control, state feedback and H_∞ control. On the other hand, for the longitudinal control, a nonlinear controller with exact state linearization is presented using the flatness of the vehicle system. Simulation results for different maneuvers are presented. The methods applied are also of great interest for automated transport by trucks in convoy enhancing the field of vehicle dynamics