Longitudinal control of a platoon of vehicles with no communication of lead vehicle information: a system level study

Author

Sheikholeslam, Shahab ; Desoer, Charles A.

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA

Volume

42

Issue

4

fYear

1993

fDate

11/1/1993 12:00:00 AM

Firstpage

546

Lastpage

554

Abstract

The paper considers the problem of longitudinal control of a platoon of automotive vehicles on a straight lane of a highway and proposes control laws in the event of loss of communication between the lead vehicle and the other vehicles in the platoon. After discussing the main design objectives for the proposed control laws, the authors formulate these objectives as a constrained optimization problem. By solving this optimization problem, they obtain longitudinal control laws for a platoon of vehicles which does not use any communication from the lead vehicle to the other vehicles in the platoon. Comparison between these control laws and the control laws which use such a communication link to transmit lead-vehicle information to the other vehicles in a platoon shows that, in the case of loss of communication between the lead vehicle and the other vehicles, the performance of the longitudinal control laws degrades; however, this degradation is not catastrophic

Keywords

control system synthesis; linearisation techniques; optimisation; road vehicles; traffic control; constrained optimization; lead vehicle information; longitudinal control; loss of communication; platoon of automotive vehicles; system level study; Acceleration; Automatic control; Communication system control; Control systems; Degradation; Performance loss; Road transportation; Road vehicles; Vehicle dynamics; Velocity control;

fLanguage

English

Journal_Title

Vehicular Technology, IEEE Transactions on

Publisher

ieee

ISSN

0018-9545

Type

jour

DOI

10.1109/25.260756

Filename

260756