A Receding Horizon Approach for Designing String Stable Cooperative Adaptive Cruise Control
Paper in proceeding, 2011
A time domain approach for designing string stable cooperative adaptive cruise control is proposed. The receding horizon scheme is used to design the controller while guaranteeing string stability and collision avoidance. The original frequency domain definition of string stability is revised for time domain design and a new criterion for predecessor- following string stability of a heterogeneous platoon based on the acceleration profile is defined and used. Simulation and experimental results shows the effectiveness of the method.
Cooperative driving
Vehicle Control
Model Predictive Control
Author
Roozbeh Kianfar
Chalmers, Signals and Systems, Systems and control
Paolo Falcone
Chalmers, Signals and Systems, Systems and control
Jonas Fredriksson
Chalmers, Signals and Systems, Systems and control
IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
734-739 6083088
978-1-4577-2197-7 (ISBN)
Areas of Advance
Information and Communication Technology
Transport
Subject Categories (SSIF 2011)
Control Engineering
Signal Processing
DOI
10.1109/ITSC.2011.6083088
ISBN
978-1-4577-2197-7