Provably safe cruise control of vehicular platoons

被引:31
作者
Sadraddini S. [1 ]
Sivaranjani S. [2 ]
Gupta V. [2 ]
Belta C. [1 ]
机构
[1] Department of Mechanical Engineering, Boston University, Boston, 02134, MA
[2] Department of Electrical Engineering, University of Notre Dame, South Bend, 46637, IN
来源
Sadraddini, Sadra (sadra@bu.edu) | 2017年 / Institute of Electrical and Electronics Engineers Inc., United States卷 / 01期
基金
美国国家科学基金会;
关键词
Autonomous vehicles; Constrained control; Robust control;
D O I
10.1109/LCSYS.2017.2713772
中图分类号
学科分类号
摘要
We synthesize performance-aware safe cruise control policies for longitudinal motion of platoons of autonomous vehicles. Using set-invariance theories, we guarantee infinite-time collision avoidance in the presence of bounded additive disturbances, while ensuring that the length and the cruise speed of the platoon are bounded within specified ranges. We propose: 1) a centralized control policy and 2) a distributed control policy, where each vehicle’s control decision depends solely on its relative kinematics with respect to the platoon leader. Numerical examples are included. © 2017 IEEE.
引用
收藏
页码:262 / 267
页数:5
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