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Platoon Transitional Maneuver Control System: A Review

Sareh Badnava, Nader Meskin, Adel Gastli, Mohammed Al-Hitmi, Jawher Ghommam, Mostefa Mesbah, Faical Mnif
2021 IEEE Access  
In [92] , Cooperative Adaptive Cruise Control (CACC) system along with wireless communication through Vehicle Ad Hoc Network (VANET) is used to develop a platoon management system for basic platoon maneuvers  ...  In [67] , to maintain a safe inter-vehicle distance between two vehicles in the platoon and control the speed of the platoon, a neural network controller with a back-propagation network (BPN) is developed  ... 
doi:10.1109/access.2021.3089615 fatcat:qncz5uyol5fc5kasantg4qh3zi

Scalable robustness of interconnected systems subject to structural changes

Steffi Knorn, Bart Besselink
2020 IFAC-PapersOnLine  
This paper studies the robustness of large-scale interconnected systems with respect to external disturbances, focussing on their scalability properties.  ...  Specifically, a notion of scalability is introduced that asks for these robustness properties to remain unchanged under a structural change of the system, such as the addition/removal of a subsystem or  ...  The notion of (γ-)scalability in Def. 2 allows for considering large-scale systems with heterogeneous subsystems and arbitrary interconnection structures.  ... 
doi:10.1016/j.ifacol.2020.12.1502 fatcat:c34jtd6lgzda7p3hesqfgkj35y

Heterogeneous string stability of unidirectionally interconnected MIMO LTI systems

Gábor Rödönyi
2019 Automatica  
A cooperative adaptive cruise control (CACC) example is presented to illustrate the usefulness of the approach.  ...  Special attention is devoted to interconnected rank one systems, i.e., systems whose transfer matrices are of rank one.  ...  General Conditions for Heterogeneous String Stability and Performance Interconnected systems with arbitrary ordering of components can be examined analogously to switching/polytopic systems.  ... 
doi:10.1016/j.automatica.2019.02.015 fatcat:cmhz2ar62nd6le7vafhyhx6an4

Cross-Platform Simulation Architecture with application to truck platooning impact assessment [article]

Andres Ladino
2021 arXiv   pre-print
Simulation-based traffic impact assessment studies of advanced technologies such as truck platooning need to be carried out to ascertain their benefits for traffic efficiency, safety and environment.  ...  We designed a cross-platform architecture for simulating a truck-platooning functionality using Vissim and SymuVia simulation software to determine the traffic flow effects of multi-brand truck platooning  ...  with low level control decisions operated by the Adaptive Cruise Control (ACC) and its cooperative counterpart (CACC) when platoons are created.  ... 
arXiv:2105.08987v1 fatcat:l5vnklttmzaa7c3r326qpwhlyu

Achieving an $\mathcal{L}_{2}$ string stable one vehicle look-ahead platoon with heterogeneity in time-delays

Deesh Dileep, Wim Michiels, Mauro Fusco, Jan Verhaegh, Laurentiu Hetel, Jean-Pierre Richard
2019 2019 18th European Control Conference (ECC)  
A methodology is proposed to design stabilising and robust fixed-order decentralised controllers for heterogeneous vehicular platoons with Cooperative Adaptive Cruise Control (CACC).  ...  (sub)system, where the allowable values of the parameters correspond to heterogeneity (including time-delays) of the vehicles.  ...  In [6] , the string stability of heterogeneous vehicular platoons in an adaptive cruise control configuration with non-connected automated vehicles has been considered.  ... 
doi:10.23919/ecc.2019.8796064 dblp:conf/eucc/DileepMFVHR19 fatcat:lqfdlo33bbhcnogdxyjr36g2bq


2021 IEEE Transactions on Intelligent Vehicles  
In this paper, we develop a methodology to synthesize a lateral control algorithm for a following ACV in a two-vehicle platoon in two steps: 1) From the limited preview information of the trajectory to  ...  The tests are repeated along roads with icy slopes, and the superiority of the energy optimal controller is verified for roads with low friction coefficients.  ...  With the application of ARS control, the performance indexes of active safety are reduced more than 50%.  ... 
doi:10.1109/tiv.2021.3090562 fatcat:d5pzx3h3e5eu3hxqiflrl7yjei

Lp String Stability of Cascaded Systems: Application to Vehicle Platooning

Jeroen Ploeg, Nathan van de Wouw, Henk Nijmeijer
2014 IEEE Transactions on Control Systems Technology  
The theoretical results are experimentally validated using a platoon of six passenger vehicles equipped with cooperative adaptive cruise control.  ...  Index Terms-Cascaded systems, cooperative adaptive cruise control (CACC), input-output stability, string stability, vehicle platoons.  ...  ) y i = h(x i ), i ∈ S m (11c) representing a general, possibly nonlinear, heterogeneous interconnected system with the same interconnection structure as (8) , (10) .  ... 
doi:10.1109/tcst.2013.2258346 fatcat:j4punck3hrf4vevczqreor6edy

Adaptive Control for Unknown Heterogeneous Vehicles Synchronization with Unstructured Uncertainty [article]

Miguel F. Arevalo-Castiblanco, D. Tellez-Castro, J. Sofrony and Eduardo Mojica-Nava
2020 arXiv   pre-print
In this paper, we present the design and simulation of adaptive control for a platoon with heterogeneous vehicles, taking into account that not all vehicles can communicate their control input, and in  ...  The cooperative control applied to vehicles allows the optimization of traffic on the roads.  ...  One of the most common strategies for this type of systems is to include a reference model that is replicated by the vehicles in the network, Model Reference Adaptive Control (MRAC) is a control strategy  ... 
arXiv:2002.05207v1 fatcat:jwpojfsttrgefnnitvgk2ij5a4

From vehicular platoons to general networked systems: String stability and related concepts

S. Stüdli, M.M. Seron, R.H. Middleton
2017 Annual Reviews in Control  
Networked systems and their control are highly important and appear in a variety of applications, including vehicle platooning and formation control.  ...  In some cases the use of heterogeneous controllers is even suggested to improve the performance of the system (Khatir and Davidson, 2004) .  ...  Acknowledgments We would like to express our gratitude to the anonymous reviewers for their exceptionally thorough and constructive feedback.  ... 
doi:10.1016/j.arcontrol.2017.09.016 fatcat:k7mf7frlzba3tpxwqbfvudx3iu

Centralized and Distributed Control Framework under Homogeneous and Heterogeneous Platoon

Muhammad Rony Hidayatullah, Jyh-Ching Juang
2021 IEEE Access  
INDEX TERMS Centralized control framework, cooperative adaptive cruise control, distributed control framework, heterogeneous platoon, homogeneous platoon, string stability.  ...  Platooning vehicles with cooperative adaptive cruise control (CACC) mode can potentially result in a small distance between vehicles with assured string stability.  ...  Zeng et al. combined the control system theory and communication network for platooning vehicles [31] .  ... 
doi:10.1109/access.2021.3068968 fatcat:xiedt2c3ozgg3c6i3pycevmrsu

Agnostic and Modular Architecture for the Development of Cooperative ITS Applications

Bruno Dias, Alexandre Santos, Antonio Costa, Bruno Ribeiro, Fabio Goncalves, Joaquim Macedo, M. João Nicolau, Oscar Gama, Susana Sousa
2018 Journal of Communications Software and Systems  
The great heterogeneity on the capabilities of the interconnected devices, the scale of the number of devices that could be involved, the various degrees of density and the complexity on the mobility patterns  ...  A Vehicular Adhoc Network (VANET) is a generic conceptualisation that can be applied to the communications domain of an Intelligent Transportation Systems (ITS).  ...  network simulation framework VEINS [27] (Vehicles in Network Simulation); ii) testing a Platooning Management Controller application.  ... 
doi:10.24138/jcomss.v14i3.550 fatcat:sxp4iv36vncuxgyaomkkpjqine

Robust Longitudinal Control for Vehicular Autonomous Platoons Using Deep Reinforcement Learning [article]

Armando Alves Neto, Leonardo Amaral Mozelli
2022 arXiv   pre-print
Reinforcement Learning methods have been employed in the longitudinal spacing control of Cooperative Adaptive Cruise Control systems, but to date, none of those studies have addressed problems of disturbance  ...  Therefore, in this paper, we propose an approach to generalize the training process of a vehicular platoon, such that the acceleration command of each agent becomes independent of the network topology.  ...  In this paper, we deal specifically with the problem of null spacing error in the longitudinal spacing control of Cooperative Adaptive Cruise Control (CACC) systems.  ... 
arXiv:2206.01175v1 fatcat:oiewcxvhsnh4xl4bznwi76kkke

Leader and Predecessor Following Robust Controller Synthesis for String Stable Heterogeneous Vehicle Platoons

Gábor Rödönyi
2015 IFAC-PapersOnLine  
The problem of string stability analysis of large scale interconnected systems is reduced to the stability analysis of two simple dynamic systems.  ...  Conditions of string (in)stability for look-ahead interconnected vehicle systems are presented based on a compact characterization of the interconnected system.  ...  ACKNOWLEDGEMENTS This paper was supported by the János Bolyai Research Scholarship of the Hungarian Academy of Sciences.  ... 
doi:10.1016/j.ifacol.2015.09.450 fatcat:5meoamm2ezgbxoumihyvby56cq

CrESt Use Cases [chapter]

Holger Schlingloff
2020 Model-Based Engineering of Collaborative Embedded Systems  
AbstractIn this chapter, we present three use cases that are used throughout this book to demonstrate the various systems engineering methods presented: vehicle platooning, adaptable and flexible factories  ...  The use cases are chosen from real-life industrial tasks and exhibit all software engineering challenges that are specific to the development of collaborative embedded systems.  ...  Acknowledgement: The author wishes to acknowledge the  ... 
doi:10.1007/978-3-030-62136-0_1 fatcat:muurcrc5mvfl5ptjfvxd2bsrii

Rhythmic Control of Automated Traffic – Part II: Grid Network Rhythm and Online Routing [article]

Xi Lin and Meng Li and Zuo-jun Max Shen and Yafeng Yin and Fang He
2020 arXiv   pre-print
The proposed framework integrates a rhythmic control (RC) method with an online routing algorithm to realize collisionfree control of all CAVs on a network and achieve superior performance in average vehicle  ...  Connected and automated vehicle (CAV) technology is providing urban transportation managers tremendous opportunities for better operation of urban mobility systems.  ...  Acknowledgements This research is supported partially by grants from National Natural Science Foundation of China (71871126, 51622807).  ... 
arXiv:2010.05416v1 fatcat:ci22ryqi6bggrbbvp7e4njuhzy
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