Consensus-based bi-directional CACC for vehicular platooning

Conference paper (2016)

Authors

N. van de Wouw University of Minnesota System, Team Bart De Schutter - Mechanical, Maritime and Materials Engineering , Eindhoven University of Technology
H. Nijmeijer Eindhoven University of Technology
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Distributed control Consensus Intelligent transportation systems Vehicular platooning
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Published Date

2016

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

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.