Controller synthesis for string stability of vehicle platoons
article
Cooperative adaptive cruise control (CACC) allows for short-distance automatic vehicle following using intervehicle wireless communication in addition to onboard sensors, thereby potentially improving road throughput. In order to fulfill performance, safety, and comfort requirements, a CACC-equipped vehicle platoon should be string stable, attenuating the effect of disturbances along the vehicle string. Therefore, a controller design method is developed that allows for explicit inclusion of the string stability requirement in the controller synthesis specifications. To this end, the notion of string stability is introduced first, and conditions for cal L2 string stability of linear systems are presented that motivate the development of an H controller synthesis approach for string stability. The potential of this approach is illustrated by its application to the design of controllers for CACC for one-and two-vehicle look-ahead communication topologies. As a result, cal L2 string-stable platooning strategies are obtained in both cases, also revealing that the two-vehicle look-ahead topology is particularly effective at a larger communication delay. Finally, the results are experimentally validated using a platoon of three passenger vehicles, illustrating the practical feasibility of this approach. © 2013 IEEE.
Topics
TNO Identifier
500732
ISSN
15249050
Source
IEEE Transactions on Intelligent Transportation Systems, 15(2), pp. 854-865.
Publisher
Institute of Electrical and Electronics Engineers Inc.
Article nr.
6683051
Pages
854-865
Files
To receive the publication files, please send an e-mail request to TNO Repository.