Title :
Minimizing the inter-vehicle distances of the time headway policy for urban platoon control with decoupled longitudinal and lateral control
Author :
Ali, Ahmad ; Garcia, Gaetan ; Martinet, P.
Author_Institution :
Inst. de Rech. en Commun. et Cyberntique de Nantes (IRCCYN), Ecole Centrale de Nantes (ECN), Nantes, France
Abstract :
Recently in [1], a modification of classical constant time headway policy (CTH) was proposed in order to make CTH very practical and easy to use in real applications. This modification was tested and its benefits were shown only for highways application. In this paper, this modification is generalized in order to make it applicable in urban environment. Dynamic and kinematic models of the vehicle are mixted without accounting wheel slip. By using exact linearization technique, lateral and longitudinal dynamics become decoupled. Stability and accuracy of the global system are checked. Using TORCS [8] in simulation, effectiveness of the proposed modification and its potential effect on traffic density are reported.
Keywords :
linearisation techniques; motion control; road traffic; road vehicles; vehicle dynamics; CTH; TORCS; classical constant time headway policy; decoupled longitudinal control; dynamic models; exact linearization technique; highways application; intervehicle distances; kinematic models; lateral control; lateral dynamics; longitudinal dynamics; time headway policy; traffic density; urban environment; urban platoon control; wheel slip; Aerodynamics; Mathematical model; Shock absorbers; Stability analysis; Vehicle dynamics; Vehicles;
Conference_Titel :
Intelligent Transportation Systems - (ITSC), 2013 16th International IEEE Conference on
Conference_Location :
The Hague
DOI :
10.1109/ITSC.2013.6728490