LONGITUDINAL CONTROL OF A PLATOON OF VEHICLES WITH NO COMMUNICATION OF LEAD VEHICLE INFORMATION - A SYSTEM-LEVEL STUDY

被引:160
作者
SHEIKHOLESLAM, S [1 ]
DESOER, CA [1 ]
机构
[1] UNIV CALIF BERKELEY,DEPT ELECT ENGN & COMP SCI,BERKELEY,CA 94720
基金
美国国家科学基金会;
关键词
D O I
10.1109/25.260756
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
This paper considers the problem of longitudinal control of a platoon of automotive vehicles on a straight lane of a highway and proposes control laws in the event of loss of communication between the lead vehicle and the other vehicles in the platoon. After discussing the main design objectives for the proposed control laws, we formulate these objectives as a constrained optimization problem. By solving this optimization problem, we obtain longitudinal control laws for a platoon of vehicles which does not use any communication from the lead vehicle to the other vehicles in the platoon. Comparison between these control laws and the control laws which use such a communication link to transmit lead-vehicle information to the other vehicles in a platoon shows that, in the case of loss of communication between the lead vehicle and the other vehicles, the performance of the longitudinal control laws degrades; however, this degradation is not catastrophic.
引用
收藏
页码:546 / 554
页数:9
相关论文
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