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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, 2020

Abstract:
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.

Authors:
Ênio Filho
,
Anis Koubâa
,
Ricardo Severino
,
Eduardo Tovar


Events:

EAI INTSYS 2020
2, Dec, 2020 >> 4, Dec, 2020
4th EAI International Conference on Intelligent Transport Systems
Online


4th 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.
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