Longitudinal Control of a Platoon of Road Vehicles Equipped with Adaptive Cruise Control System
Automotive vehicle following systems are essential for the design of automated highway system. The problem associated with the automatic vehicle following system is the string stability of the platoon of vehicles, i.e. the problem of uniform velocity and spacing errors propagation. Different contr...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Mehran University of Engineering and Technology
2012-07-01
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| Series: | Mehran University Research Journal of Engineering and Technology |
| Subjects: | |
| Online Access: | http://publications.muet.edu.pk/research_papers/pdf/pdf664.pdf |
| Summary: | Automotive vehicle following systems are essential for the design of automated highway system. The
problem associated with the automatic vehicle following system is the string stability of the platoon of
vehicles, i.e. the problem of uniform velocity and spacing errors propagation. Different control algorithm
for the longitudinal control of a platoon are discussed based on different spacing policies, communication
link among the vehicles of a platoon, and the performance of a platoon have been analysed in the presence
of disturbance (noise) and parametric uncertainties. This paper presented the PID (Proportional Integral
Derivative) feedback control algorithm for the longitudinal control of a platoon in the presence of noise
signal and investigates the performance of platoon under the influence of sudden acceleration and
braking in severe conditions. This model has been applied on 6 vehicles moving in a platoon. The platoon
has been analysed to retain the uniform velocity and safe spacing among the vehicles. The limitations of
PID control algorithm have been discussed and the alternate methods have been suggested. Model
simulations, in comparison with the literature, are also presented. |
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| ISSN: | 0254-7821 2413-7219 |