Print Email Facebook Twitter Consensus-based bi-directional CACC for vehicular platooning Title Consensus-based bi-directional CACC for vehicular platooning Author Zegers, J.C. Semsar-Kazerooni, E. Ploeg, J. van de Wouw, N. Nijmeijer, H. Publication year 2016 Abstract 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. Subject 2015 Fluid & Solid MechanicsIVS - Integrated Vehicle SafetyTS - Technical SciencesTrafficMobilityConsensusDistributed controlIntelligent transportation systemsVehicular platooning To reference this document use: http://resolver.tudelft.nl/uuid:12474792-a551-4edd-9af7-66a8d5890915 DOI https://doi.org/10.1109/acc.2016.7525305 TNO identifier 573514 Publisher Institute of Electrical and Electronics Engineers Inc. ISBN 9781467386821 ISSN 0743-1619 Source 2016 American Control Conference, ACC 2016. 6 July 2016 through 8 July 2016, 2016-July, 2578-2584 Series Proceedings of the American Control Conference Article number 7525305 Document type conference paper Files To receive the publication files, please send an e-mail request to TNO Library.