Design of Lateral Control Algorithms for a Flexible Platoon

This paper presents lateral control algorithms for vehicles within a platoon. The vehicles are supposed to drive either along the same trajectory or at a free position. The platoon is called a flexible platoon here, and can be applied mainly to low-speed, small automated vehicles. The lateral control algorithms in this paper are for following vehicles in an automated platoon. One algorithm is for following vehicles that drive along the same trajectory of a preceding vehicle, and the lateral control is expressed by a linear combination of the lateral deviation and the relative heading between the successive two vehicles. The other algorithm is also for following vehicles that drive not along the same trajectory of a preceding vehicle but at a free position, and the lateral control is expressed by a rule-based algorithm. The algorithms are verified by simulation studies and experiments with autonomous mobile robots.

• Availability:
  • Find a library where document is available. Order URL: http://www.its-jp.org/english/congress_e/
• Supplemental Notes:
  • Abstract used with permission of ITS Japan. Paper No. 3129.
• Corporate Authors:

  ITS Japan

  Tokyo,   Japan 
• Authors:
  • Miyake, Takamasa
  • Tsugawa, Sadayuki
• Conference:
  • 20th ITS World Congress
  • Location: Tokyo , Japan
  • Date: 2013-10-14 to 2013-10-18
• Publication Date: 2013

Language

• English

Media Info

• Media Type: Digital/other
• Features: CD-ROM; Figures; Photos; References;
• Pagination: 6p
• Monograph Title: 20th ITS World Congress, Tokyo 2013. Proceedings

Subject/Index Terms

• TRT Terms: Algorithms; Automatic steering control; Car following; Gap acceptance; Intelligent vehicles; Simulation; Traffic platooning
• Subject Areas: Highways; Operations and Traffic Management; I73: Traffic Control;

Filing Info

• Accession Number: 01536646
• Record Type: Publication
• ISBN: 9784990493981
• Files: TRIS
• Created Date: Sep 2 2014 9:09AM