Using Disturbance Rejection to Achieve Inter-Vehicle Spacing Within a Convoy

In this paper, two commonly utilized control methods for active disturbance rejection are designed and evaluated in a column formation (i.e., convoy) application of ground vehicles. Specifically, a variable structure controller and a robust sign of the error controller are utilized to achieve inter-vehicle distance tracking despite 1) not measuring the preceding vehicle's velocity and 2) being subjected to environmental influences. Both controllers utilize headway (i.e., variable inter-vehicle distance based on vehicle velocity) to: 1) promote overall convoy stability and 2) utilize only the preceding vehicle's position measurement. The performance of the controllers are evaluated and analyzed on experimental scale vehicles in both on- and off-road settings.

• Record URL:
  https://doi.org/10.1109/TVT.2019.2913319
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/00189545
• Supplemental Notes:
  • Copyright © 2019, IEEE.
• Authors:
  • Feemster, Matthew
• Publication Date: 2019-6

Language

• English

Media Info

• Media Type: Web
• Features: Figures; References;
• Pagination: pp 5331-5342
• Serial:
  • IEEE Transactions on Vehicular Technology
  • Volume: 68
  • Issue Number: 6
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 0018-9545
  • Serial URL: http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=25

Subject/Index Terms

• TRT Terms: Following distance; Measurement; Motor vehicle dynamics; Motors; Stability analysis; Traffic platooning; Velocity measurement; Voltage regulation
• Subject Areas: Highways; Operations and Traffic Management; Vehicles and Equipment;

Filing Info

• Accession Number: 01713130
• Record Type: Publication
• Files: TRIS
• Created Date: Jul 31 2019 3:33PM