Integrated Longitudinal and Lateral Networked Control System Design for Vehicle Platooning
This paper investigates platoon control of vehicles via the wireless communication network. An integrated longitudinal and lateral control approaches for vehicle platooning within a designated lane is proposed. Firstly, the longitudinal control aims to regulate the speed of the follower vehicle on t...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2018-09-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/18/9/3085 |
| _version_ | 1798002554312851456 |
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| author | Chedia Latrech Ahmed Chaibet Moussa Boukhnifer Sébastien Glaser |
| author_facet | Chedia Latrech Ahmed Chaibet Moussa Boukhnifer Sébastien Glaser |
| author_sort | Chedia Latrech |
| collection | DOAJ |
| description | This paper investigates platoon control of vehicles via the wireless communication network. An integrated longitudinal and lateral control approaches for vehicle platooning within a designated lane is proposed. Firstly, the longitudinal control aims to regulate the speed of the follower vehicle on the leading vehicle while maintaining the inter-distance to the desired value which may be chosen proportional to the vehicle speed. Thus, based on Lyapunov candidate function, sufficient stability conditions formulated in BMIs terms are proposed. For the general objective of string stability and robust platoon control to be achieved simultaneously, the obtained controller is complemented by additional conditions established for guaranteeing string stability. Furthermore, constraints such as actuator saturation, and controller constrained information are also considered in control design. Secondly, a multi-model fuzzy controller is developed to handle the vehicle lateral control. Its objective is to maintain the vehicle within the road through steering. The design conditions are strictly expressed in terms of LMIs which can be efficiently solved with available numerical solvers. The effectiveness of the proposed control method is validated under the CarSim software package. |
| first_indexed | 2024-04-11T11:53:57Z |
| format | Article |
| id | doaj.art-3f80bf6dd68744a8b956dac0b95803f7 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T11:53:57Z |
| publishDate | 2018-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-3f80bf6dd68744a8b956dac0b95803f72022-12-22T04:25:12ZengMDPI AGSensors1424-82202018-09-01189308510.3390/s18093085s18093085Integrated Longitudinal and Lateral Networked Control System Design for Vehicle PlatooningChedia Latrech0Ahmed Chaibet1Moussa Boukhnifer2Sébastien Glaser3Institut VEDECOM, 77 Rue des Chantiers, 78000 Versailles, FranceESTACA, 12 Rue Paul Delouvrier, 78180 Montigny-le-Bretonneux, FranceESTACA, 12 Rue Paul Delouvrier, 78180 Montigny-le-Bretonneux, FranceCentre for Accident Research and Road Safety (CARRS-Q), Queensland University of Technology (QUT), Brisbane city, QLD 4000, AustraliaThis paper investigates platoon control of vehicles via the wireless communication network. An integrated longitudinal and lateral control approaches for vehicle platooning within a designated lane is proposed. Firstly, the longitudinal control aims to regulate the speed of the follower vehicle on the leading vehicle while maintaining the inter-distance to the desired value which may be chosen proportional to the vehicle speed. Thus, based on Lyapunov candidate function, sufficient stability conditions formulated in BMIs terms are proposed. For the general objective of string stability and robust platoon control to be achieved simultaneously, the obtained controller is complemented by additional conditions established for guaranteeing string stability. Furthermore, constraints such as actuator saturation, and controller constrained information are also considered in control design. Secondly, a multi-model fuzzy controller is developed to handle the vehicle lateral control. Its objective is to maintain the vehicle within the road through steering. The design conditions are strictly expressed in terms of LMIs which can be efficiently solved with available numerical solvers. The effectiveness of the proposed control method is validated under the CarSim software package.http://www.mdpi.com/1424-8220/18/9/3085platoon controlvehicle longitudinal controlvehicle lateral controlfuzzy controllinear matrix inequalitytime-varying delay |
| spellingShingle | Chedia Latrech Ahmed Chaibet Moussa Boukhnifer Sébastien Glaser Integrated Longitudinal and Lateral Networked Control System Design for Vehicle Platooning Sensors platoon control vehicle longitudinal control vehicle lateral control fuzzy control linear matrix inequality time-varying delay |
| title | Integrated Longitudinal and Lateral Networked Control System Design for Vehicle Platooning |
| title_full | Integrated Longitudinal and Lateral Networked Control System Design for Vehicle Platooning |
| title_fullStr | Integrated Longitudinal and Lateral Networked Control System Design for Vehicle Platooning |
| title_full_unstemmed | Integrated Longitudinal and Lateral Networked Control System Design for Vehicle Platooning |
| title_short | Integrated Longitudinal and Lateral Networked Control System Design for Vehicle Platooning |
| title_sort | integrated longitudinal and lateral networked control system design for vehicle platooning |
| topic | platoon control vehicle longitudinal control vehicle lateral control fuzzy control linear matrix inequality time-varying delay |
| url | http://www.mdpi.com/1424-8220/18/9/3085 |
| work_keys_str_mv | AT chedialatrech integratedlongitudinalandlateralnetworkedcontrolsystemdesignforvehicleplatooning AT ahmedchaibet integratedlongitudinalandlateralnetworkedcontrolsystemdesignforvehicleplatooning AT moussaboukhnifer integratedlongitudinalandlateralnetworkedcontrolsystemdesignforvehicleplatooning AT sebastienglaser integratedlongitudinalandlateralnetworkedcontrolsystemdesignforvehicleplatooning |