Name
Abstract | ||
|---|---|---|
One of the best way to increase road capacity is to enable vehicles to travel in a convoy (or platoon) with short distance headways from preceding vehicles. The objective of this study is to present a control system which can optimally control a convoy of closely following vehicles for stop-and-go type of traffic. The convoy needs to be string stable and must have robust control to dampen any disturbance caused in any part of the convoy. We develop a Finite State Machine which acts as a supervisory controller to guide a following vehicle to merge behind and follow the vehicle ahead. After merging, the vehicle following controller is a linear-quadratic regulator (LQR) based sequential-state feedback controller proposed over thirty years ago. The performance is evaluated with a scenario based on a recent “Grand Cooperating Driving Challenge”. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/IVS.2011.5940572 | Intelligent Vehicles Symposium |
Keywords | Field | DocType |
finite state machines,linear quadratic control,road traffic,robust control,state feedback,traffic control,LQR-based sequential-state feedback controller,convoy scenario,finite state machine,grand cooperating driving challenge,linear-quadratic regulator,optimal control,road capacity,road vehicles,robust control,stop-and-go traffic,supervisory controller | Regulator,Control theory,Feedback controller,Platoon,Control theory,Finite-state machine,Control engineering,Control system,Engineering,Merge (version control),Robust control | Conference |
ISSN | ISBN | Citations |
1931-0587 | 978-1-4577-0890-9 | 2 |
PageRank | References | Authors |
0.43 | 0 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Naohisa Hashimoto | 1 | 2 | 0.43 |
| Ümit Özgüner | 2 | 1014 | 166.59 |
| Neil Sawant | 3 | 2 | 0.43 |