This paper proposes a solution to dynamically adjust vehicle platoon trajectories. The goal of the control algorithm is to keep the optimal interdistance between adjacent vehicles proceeding at cruising speed on a straight road. After a proposal of the interdistance required between neighboring vehicles, a robust decentralized controller based on a linear control law provides the speed profile for each component of the platoon. Its objective is to minimize the divergence in space in respect to the planned trajectories while assuring a safe span between adjacent members of the platoon. The results on a limited instance demonstrate the effectiveness of the proposed approach.
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Titolo: | Real-time robust trajectory control for vehicle platoons: A linear matrix inequality-based approach | |
Autori: | ||
Data di pubblicazione: | 2021 | |
Handle: | http://hdl.handle.net/11567/1078330 | |
ISBN: | 978-989-758-522-7 | |
Appare nelle tipologie: | 04.01 - Contributo in atti di convegno |