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 Platooning
Ref: CISTER-TR-200903 Publication Date: 2 to 4, Dec, 2020Abstract:
Cooperative Vehicular Platooning (CoVP), has been emerging
as a challenging Intelligent Trac Systems application, promising to
bring-about several safety and societal bene ts. 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 e ectively implemented.
Enio Filho
Anis Koubâa
Ricardo Severino
Eduardo TovarEvents:
Document:
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Download4th EAI International Conference on Intelligent Transport Systems (EAI INTSYS 2020), pp 142-159.
Online.
DOI:https://doi.org/10.1007/978-3-030-71454-3_9.
ISBN: 978-3-030-71454-3.
ISSN: 1867-822X.
Notes: Part of the Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering book series (LNICST, volume 364).
Record Date: 21, Sep, 2020