A Distributed Model Predictive Control Approach to Active Steering Control of String Stable Cooperative Vehicle Platoon
Paper in proceedings, 2013

A distributed receding horizon approach is adopted for active steering control of a cooperative vehicle platoon in the lateral direction. String stability is enforced by translating the classical definition of string stability from frequency domain into time domain constraint. Each vehicle locally computes its own control action and broadcasts its intention to its follower. Any deviation from the intention of each vehicle from the predicted states is penalized and constrained in the optimization problem which is solved locally by the vehicles. The string stability condition is robust against uncertainty in the intent trajectory. The effectiveness of proposed approach is verified by simulation in a double lane change scenario.

String stability

Platooning

Cooperative driving

Distributed control

Model predictive control

Author

Roozbeh Kianfar

Chalmers, Signals and Systems, Systems and control, Mechatronics

Paolo Falcone

Chalmers, Signals and Systems, Systems and control, Mechatronics

Jonas Fredriksson

Chalmers, Signals and Systems, Systems and control, Mechatronics

Advances in Automotive Control

1474-6670 (ISSN)

Vol. 7 1 750-755

Driving Forces

Sustainable development

Areas of Advance

Transport

Energy

Subject Categories

Control Engineering

DOI

10.3182/20130904-4-JP-2042.00040

ISBN

978-390282343-4

More information

Created

10/8/2017