Combined lateral and longitudinal CACC for a unicycle-type platoon
conference paper
This paper presents the controller design for combined lateral and longitudinal Cooperative Adaptive Cruise Control (CACC) for a unicycle-type platoon with emphasis on the cornering maneuvers. A decentralized controller for lateral and longitudinal behavior is designed using input-output linearization by static feedback. A preceding vehicle look-ahead approach is adapted in the controller to maintain desired inter-vehicle distance. However, due to the position control of the look-ahead point, the follower vehicle may cut corners on turns. In this paper, the extension of a look-ahead point that is able to compensate the cutting-corner behavior is then proposed. To validate the theoretical analysis, the full nonlinear system together with the developed controller is simulated for two scenarios, a circular path and a particular path scenario, and a comparison is made between the system with the preceding vehicle look-ahead and the extended look-ahead. The simulation shows that the proposed lateral and longitudinal controller using the extended look-ahead eliminates the cutting corner behavior.
Topics
TNO Identifier
572370
ISBN
9781509018215
Publisher
Institute of Electrical and Electronics Engineers Inc.
Article nr.
7535437
Source title
2016 IEEE Intelligent Vehicles Symposium, IV 2016, 19 June 2016 through 22 June 2016
Pages
527-532
Files
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