Consensus-based bi-directional CACC for vehicular platooning

Consensus-based bi-directional CACC for vehicular platooning

Zegers, J.C.
Semsar-Kazerooni, E.
Ploeg, J.
van de Wouw, N.
Nijmeijer, H.

2016

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.

2015 Fluid & Solid Mechanics
IVS - Integrated Vehicle Safety
TS - Technical Sciences
Traffic
Mobility
Consensus
Distributed control
Intelligent transportation systems
Vehicular platooning

http://resolver.tudelft.nl/uuid:12474792-a551-4edd-9af7-66a8d5890915

https://doi.org/10.1109/acc.2016.7525305

573514

Institute of Electrical and Electronics Engineers Inc.

9781467386821

0743-1619

2016 American Control Conference, ACC 2016. 6 July 2016 through 8 July 2016, 2016-July, 2578-2584

Proceedings of the American Control Conference

7525305

conference paper