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Combined Longitudinal and Lateral Control of Car-Like Vehicle Platooning With Extended Look-Ahead
IEEE Transactions on Control Systems Technology ( IF 4.8 ) Pub Date : 2019-02-05 , DOI: 10.1109/tcst.2019.2893830
Anggera Bayuwindra , Jeroen Ploeg , Erjen Lefeber , Henk Nijmeijer

In this paper, we present a novel look-ahead concept for combined longitudinal and lateral vehicle following control for a car-like platoon. A nonlinear controller structure, which is based on Cooperative Adaptive Cruise Control, is designed for the lateral and longitudinal direction. For practical implementation and cost efficiency, a preceding vehicle look-ahead approach is considered since it utilizes the already available information (such as preceding vehicle position, orientation, and velocity) from radar and vehicle-to-vehicle communication. However, due to the position control in the look-ahead approach, the follower vehicle may cut corners. To overcome this problem, the look-ahead is extended to a point perpendicular to the direction of the preceding vehicle, which can be viewed as a virtual preceding vehicle tracking objective. To demonstrate the effectiveness of the designed controller with the extended look-ahead approach, simulations are performed and further validated with experiments on a mobile robot platform. The results prove the effectiveness of the extended look-ahead approach.

中文翻译:

像汽车排那样的纵向和横向联合控制

在本文中,我们提出了一种新颖的超前概念,用于控制类似汽车排的纵向和横向车辆组合控制。针对横向和纵向方向设计了基于协作自适应巡航控制的非线性控制器结构。对于实际实施和成本效率,考虑了在先车辆前瞻方法,因为它利用了来自雷达和车对车通信的已经可用的信息(例如,在前车辆位置,方向和速度)。但是,由于前瞻方法中的位置控制,随车可能会拐弯。为了克服此问题,超前扩展到垂直于在前车辆方向的点,可以将其视为虚拟在前车辆跟踪目标。为了通过扩展的预读方法演示设计的控制器的有效性,进行了仿真,并通过移动机器人平台上的实验对其进行了进一步验证。结果证明了扩展前瞻方法的有效性。
更新日期:2020-04-22
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