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String Stability for Heterogeneous Vehicular Platoon with Fault
2021 IEEE International Intelligent Transportation Systems Conference (ITSC), 2021The problem of string stability control for the heterogeneous vehicular platoon subject to actuator fault and external disturbances is investigated. Specifically, a quadratic spacing error policy is applied to improve string stability despite any vehicle in the platoon occurring actuator fault.
Chengwei Pan +3 more
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Distributed PI Control For Heterogeneous Nonlinear Platoon of Autonomous Connected Vehicles
IFAC-PapersOnLine, 2020 In this paper we present a distributed PI-based control law that guarantees the platoon formation to track leader velocity with a pre-fixed inter-vehicular distance, when vehicles are heterogeneous in both parameters and nonlinear drivetrain dynamics ...
Stefania Santini +2 more
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Control of Heterogeneous Platoons Using a Delay-Based Spacing Policy
IFAC-PapersOnLine, 2020 A control design approach for heterogeneous platoons is derived that achieves tracking of the desired delay-based spacing policy. The delay-based spacing policy induces an identical spatially varying velocity reference for all vehicles of the platoon ...
Alexander Fay +2 more
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Distributed model predictive control for heterogeneous vehicle platoon with unknown input of leading vehicle [PDF]
Transportation Research Part C: Emerging Technologies, 2023 In this paper, a distributed model predictive control (DMPC) algorithm for a platoon of heterogeneous vehicles is proposed. The leading vehicle is allowed to be driven by a non-zero and time-varying input, rather than traveling at a constant velocity ...
Boli Chen, Li Dai
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Fahrsituationsabhängiger Wechsel der Kommunikationstopologie für heterogene Platoons
at - Automatisierungstechnik, 2022Zusammenfassung Kommunikationsbasierte Regler für Platooning sind oft für eine homogene Fahrzeugzusammensetzung in einer nominalen Fahrsituation ausgelegt. In realen Anwendungen werden Platoons jedoch aus unterschiedlichen Fahrzeugen bestehen und somit heterogen sein, was die Anforderungen an einen sicheren Betrieb erhöht. Darüber hinaus
Fritz Miekautsch, Alexander Fay
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Scalability in heterogeneous vehicle platoons
2007 American Control Conference, 2007It is known that vehicle platoons exhibit string instability when each vehicle tries to maintain a fixed distance from its predecessor. This can be avoided if sufficiently strong coupling with the leader is employed. If instead each vehicle tracks the average distance form its neighbours, the interconnection can still be ill-conditioned in the sense ...
Ioannis Lestas, Glenn Vinnicombe
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LIPs: A Protocol for Leadership Incentives for Heterogeneous and Dynamic Platoons
2019 IEEE 43rd Annual Computer Software and Applications Conference (COMPSAC), 2019With the ever-increasing problems of higher fuel costs and greater traffic congestion, shipping and long-distance travel via interstates and highways continues to become more expensive in terms of time and money. With the advent of semi-and fully-autonomous vehicles, platooning is designed to decrease the amount of fuel used and decrease the space ...
Brian K. Ledbetter +3 more
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Towards Heterogeneous Communication Strategies for Urban Platooning at Intersections
2019 IEEE Vehicular Networking Conference (VNC), 2019Platooning promises to solve worldwide traffic problems by using wireless communication for tight control of convoys of vehicles to reduce their inter-vehicle gaps. To date, however, most research on platooning has focused on freeway scenarios. In this paper, we provide a realistic exploration of platooning in urban environments: We consider traffic ...
Tobias Hardes, Christoph Sommer 0001
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Control of a heterogeneous vehicular platoon with uniform communication delay
2015 IEEE International Conference on Information and Automation, 2015Platoon driving is critical to improve safety, efficiency, and fuel economy. This paper presents a control method for heterogeneous vehicular platoons with uncertain dynamics and uniform communication delay. The requirements of string stability, robustness and tracking performance are measured by H-infinity norm and satisfied by casting into a linear ...
Feng Gao 0007 +2 more
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A mechanism to improve Stereo Vision Systems in automated heterogeneous platoons
2012 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2012Due to their low price and good quality, Stereo Vision Systems (SVS) are recently considered as a key factor to gather actual information about the object of interest. Today, automated highway systems (AHS) for urban and highway environment were developed without the use of a stereo vision system. In future, the application of AHS should be extended to
Mohammad Alfraheed +4 more
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