Name
Abstract | ||
|---|---|---|
This article presents a local control approach to linear vehicle platooning. Linear platoon systems are sets of vehicles that use local or global perception capabilities to form a train configuration, without any hard grip element. Public transportation is beginning to interest in platoon systems as a technological base to conceive new services. The main problem related to platoon system's control corresponds with maintaining inter-vehicle distance. In literature, the platoon's geometry control problem is treated according to two approaches: global or local vehicle control. This paper focuses on a local approach which does not require sophisticated sensors and/or costly road equipment. This local control approach intends to obtain very good global matching to arbitrary trajectories, only from local perception which consists in measuring the vectorial distance between a given vehicle and its predecessor. The behavior of each platoon vehicle is determined from a physics inspired multi agent interaction model based on a virtual spring-damper. Furthermore, stability, platoon safety properties are checked using physics and mathematical proofs. Finally, simulation is used to measure trajectory error and inter-vehicle distance evolution. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1007/978-3-642-01970-8_59 | ICCS (1) |
Keywords | Field | DocType |
control corresponds,local approach,platoon system,improve local platoon control,local control approach,geometry control problem,local vehicle control,local perception,platoon safety property,linear platoon system,platoon vehicle,bending virtual spring-damper,public transport,simulation | Global matching,Mathematical optimization,Platoon,Control theory,Computer science,Simulation,Bending,Public transport,Mathematical proof,Vehicle control,Trajectory,Damper | Conference |
Volume | ISSN | Citations |
5544 | 0302-9743 | 6 |
PageRank | References | Authors |
1.24 | 4 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jean-Michel Contet | 1 | 85 | 11.01 |
| Franck Gechter | 2 | 155 | 26.99 |
| Pablo Gruer | 3 | 213 | 21.95 |
| Abderrafiaa Koukam | 4 | 257 | 32.99 |