Title
Cooperative adaptive cruise control: An artificial potential field approach
Author
Semsar-Kazerooni, E.
Verhaegh, J.
Ploeg, J.
Alirezaei, M.
Publication year
2016
Abstract
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.
Subject
Fluid & Solid Mechanics
IVS - Integrated Vehicle Safety
TS - Technical Sciences
Traffic
Industrial Innovation
Velocity control
Adaptive control
Collision avoidance
Control system synthesis
Cooperative systems
Nonlinear control systems
Road traffic control
Road vehicles
To reference this document use:
http://resolver.tudelft.nl/uuid:7f43f725-83c5-4e47-ab30-2d05b177fa2d
DOI
https://doi.org/10.1109/ivs.2016.7535411
TNO identifier
572373
Publisher
Institute of Electrical and Electronics Engineers Inc.
ISBN
9781509018215
Source
2016 IEEE Intelligent Vehicles Symposium, IV 2016, 19 June 2016 through 22 June 2016, 361-367
Article number
7535411
Document type
conference paper