Cooperative adaptive cruise control: An artificial potential field approach
conference paper
In this paper, in addition to the main functionality of vehicle following, cooperative adaptive cruise control (CACC) is enabled with additional features of gap closing and collision avoidance. Due to its nonlinear nature, a control objective such as collision avoidance, cannot be addressed using a linear controller such as a PD controller. However, the artificial potential functions can be adopted to design controllers which accommodate multiple (nonlinear) control objectives in a single design. By defining an appropriate control law, the system state is always driven to the minima of the designed potential function which guarantees the required performance of the system.
Topics
TNO Identifier
572373
ISBN
9781509018215
Publisher
Institute of Electrical and Electronics Engineers Inc.
Article nr.
7535411
Source title
2016 IEEE Intelligent Vehicles Symposium, IV 2016, 19 June 2016 through 22 June 2016
Pages
361-367
Files
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