An Integrated Lateral and Longitudinal Look Ahead Controller for Cooperative Vehicular Platooning
Ref: CISTER-TR-200903 Publication Date: 2 to 4, Dec, 2020
An Integrated Lateral and Longitudinal Look Ahead Controller for Cooperative Vehicular PlatooningRef: CISTER-TR-200903 Publication Date: 2 to 4, Dec, 2020
Cooperative Vehicular Platooning (CoVP), has been emerging as a challenging Intelligent Trac Systems application, promising to bring-about several safety and societal benets. Relying on V2V communications to control such cooperative and automated actions brings several advantages. In this work, we present a Look Ahead PID controller for CoVP that solely relies upon V2V communications, together with a method to reduce the disturbance propagation in the platoon. The platooning controller also implements a solution to solve the cutting corner problem, keeping the platooning alignment. We evaluate its performance and limitations in realistic simulation scenarios, analyzing the stability and lateral errors of the CoVP, proving that such V2V enabled solutions can be eectively implemented.
4th EAI International Conference on Intelligent Transport Systems (EAI INTSYS 2020).