String-stable automated steering in cooperative driving applications
The automation of vehicle steering is necessary in order to guarantee safe vehicle following in short-distance vehicle following applications. A necessary (safety) requirement for such automation strategy is lateral string stability. In this paper, a design for cooperative lateral controllers is proposed that yields a laterally string-stable platoon. The dynamics of the vehicles in the platoon are described using the dynamic bicycle model. The proposed controller is designed using the H∞ control framework which achieves firstly, lateral string stability and, secondly, path-following, where the path is induced by the preceding vehicle in the platoon. Such control design approach is taken since it allows for the inclusion of the string-stability requirement as an a-priori design specification. The properties of the designed controller are evaluated by means of frequency domain analysis and numerical simulations and compared with a benchmark controller.
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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/issn/00423114
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Supplemental Notes:
- © 2020 Informa UK Limited, trading as Taylor & Francis Group. Abstract reprinted with permission of Taylor & Francis.
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Authors:
- Hassanain, Omar
- Alirezaei, Mohsen
- Ploeg, Jeroen
- van de Wouw, Nathan
- Publication Date: 2020-5
Language
- English
Media Info
- Media Type: Web
- Features: References;
- Pagination: pp 826-842
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Serial:
- Vehicle System Dynamics
- Volume: 58
- Issue Number: 5
- Publisher: Taylor & Francis
- ISSN: 0042-3114
- EISSN: 1744-5159
- Serial URL: https://www.tandfonline.com/toc/nvsd20/current
Subject/Index Terms
- TRT Terms: Automatic steering control; Car following; Connected vehicles; Dynamic models; Electronic controllers; Equipment design; Mobile communication systems; Traffic platooning
- Subject Areas: Data and Information Technology; Design; Highways; Vehicles and Equipment;
Filing Info
- Accession Number: 01742616
- Record Type: Publication
- Files: TRIS
- Created Date: Jun 18 2020 9:43AM