EU AUTOPILOT project: Platooning use case in Brainport

In the EU AUTOPILOT project, IoT is brought into the automotive world to transform connected vehicles — moving ‘things’ in the IoT ecosystem — into highly and fully automated vehicles. One of the considered use cases is the platooning use case, which is being tested at the Brainport pilot site in the Netherlands. The aim of this use case is to...

A Multi-Layer Control Approach to Truck Platooning: Platoon Cohesion subject to Dynamical Limitations

This paper presents a multi-layer approach to Cooperative Adaptive Cruise Control (CACC) to improve the platoon cohesion subject to limited vehicle actuation capabilities. The objective of the design is to guarantee that the vehicles in the platoon keep their desired relative position, while maintaining desirable platoon properties in terms of...

Consensus Control for Vehicular Platooning With Velocity Constraints

In this paper, a 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. As a particular case, the approach allows to consider...

Nonlinear Multi-Layer Consensus Seeking of Vehicular Platoons

In this paper, non-linear estimators and feedforward actions are designed to solve a vehicular platoon control problem. In particular, these estimators are useful in implementation of a Multi-Layer Consensus Seeking approach to the platooning problem. In the Multi-Layer approach the feed-forward part is built separately from the feedback part,...

Consensus-based bi-directional CACC for vehicular platooning

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...

Vehicular Platooning: Multi-Layer Consensus Seeking

In this paper, a novel Multi-Layer Consensus Seeking (MLCS) framework is proposed, focusing on the vehicular platooning problem. The vehicles are described by linear heterogeneous dynamics. For example, we consider thirdorder systems, however the algorithms discussed are suitable for any higher-order. A velocity-dependent inter-vehicle spacing...

Optimal control for non-exponentially stabilizable spatially invariant systems with an application to vehicular platooning

This paper considers the optimal control problem for a class of infinite-dimensional systems, namely spatially invariant systems. A common assumption in the scope of such optimal control problem is the exponential stabilizability of the infinite-dimensional plant. We propose sufficient conditions for the optimizability of spatially invariant...