DocumentCode :
3125397
Title :
Practical results of a longitudinal control concept for truck platooning with vehicle to vehicle communication
Author :
Gehring, Ottmar ; Fritz, Hans
Author_Institution :
Dept. of Res., Daimler-Benz AG, Stuttgart, Germany
fYear :
1997
fDate :
9-12 Nov 1997
Firstpage :
117
Lastpage :
122
Abstract :
Practical results of a longitudinal control concept for truck platooning are presented. The approach is based on distance measurement between the vehicles and on vehicle to vehicle communication but does not need road infrastructure. A two layered control structure is proposed. The inner control loop includes a nonlinear acceleration controller linearizing a large part of the nonlinearities. Despite this linearisation, due to the different actuator systems the dynamic behaviour of the vehicle is different during acceleration and braking. Furthermore, each vehicle may have different power trains and loads and additional disturbances might occur. Therefore, a robust platoon controller is introduced for the outer control loop by use of sliding mode control design. Practical results of a platoon consisting of 7 trucks show that by use of the proposed control concept string stability can be achieved
Keywords :
acceleration control; automated highways; distance measurement; linearisation techniques; position control; road traffic; road vehicles; robust control; variable structure systems; acceleration control; automated highway; distance measurement; linearisation; longitudinal control; road vehicles; robust control; sliding mode control; truck platooning; two layered control structure; vehicle communication; Acceleration; Communication system control; Control nonlinearities; Distance measurement; Hydraulic actuators; Road vehicles; Robust control; Sliding mode control; Stability; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Transportation System, 1997. ITSC '97., IEEE Conference on
Conference_Location :
Boston, MA
Print_ISBN :
0-7803-4269-0
Type :
conf
DOI :
10.1109/ITSC.1997.660461
Filename :
660461
Link To Document :
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