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Publication
An Integrated Lateral and Longitudinal Look Ahead Controller for Cooperative Vehicular Platooning
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Advisor(s)
Abstract(s)
Cooperative Vehicular Platooning (CoVP), has been emerging as a challenging Intelligent Traffic Systems application, promising to bring-about several safety and societal benefits. Relying on V2V communications to control such cooperative and automated actions brings several advantages. In this work, we present a Look Ahead PID controller for CoVP that solely relies upon V2V communications, together with a method to reduce the disturbance propagation in the platoon. The platooning controller also implements a solution to solve the cutting corner problem, keeping the platooning alignment. We evaluate its performance and limitations in realistic simulation scenarios, analyzing the stability and lateral errors of the CoVP, proving that such V2V enabled solutions can be effectively implemented.
Description
Keywords
Cooperative platooning Safety V2V
Citation
Vasconcelos Filho E., Severino R., Koubaa A., Tovar E. (2021) An Integrated Lateral and Longitudinal Look Ahead Controller for Cooperative Vehicular Platooning. In: Martins A.L., Ferreira J.C., Kocian A., Costa V. (eds) Intelligent Transport Systems, From Research and Development to the Market Uptake. INTSYS 2020. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 364. Springer, Cham. https://doi.org/10.1007/978-3-030-71454-3_9
Publisher
Springer