Consensus-based bi-directional CACC for vehicular platooning
conference paper
In this paper, a novel distributed consensus control approach for vehicular platooning systems is proposed. In formalizing the underlying consensus problem, a realistic vehicle dynamics model is considered and a velocity-dependent spacing-policy between two consecutive vehicles is realized. For a generic communication topology, conditions for asymptotic platoon stability are proposed. As a particular case, these results allow to consider bi-directional vehicle interaction, which improves the coherence between the vehicles in the platoon. The theoretical results are experimentally validated using a three-vehicle platoon consisting of (longitudinally) automated vehicles equipped with wireless inter-vehicle communication and radar-based sensing.
TNO Identifier
573514
ISSN
07431619
ISBN
9781467386821
Publisher
Institute of Electrical and Electronics Engineers Inc.
Article nr.
7525305
Source title
2016 American Control Conference, ACC 2016. 6 July 2016 through 8 July 2016
Pages
2578-2584
Files
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