Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
6936242 | Transportation Research Part C: Emerging Technologies | 2018 | 21 Pages |
Abstract
The development of automated and coordinated driving systems (platooning) is an hot topic today for vehicles and it represents a challenging scenario that heavily relies on distributed control in the presence of wireless communication network. To actuate platooning in a safe way it is necessary to design controllers able to effectively operate on informations exchanged via Inter-Vehicular Communication (IVC) systems despite the presence of unavoidable communication impairments, such as multiple time-varying delays that affect communication links. To this aim in this paper we propose a novel distributed adaptive collaborative control strategy that exploits information coming from connected vehicles to achieve leader synchronization and we analytically demonstrate its stability with a Lyapunov-Krasovskii approach. The effectiveness of the proposed strategy is shown via numerical simulations in Plexe, a state of the art IVC and mobility simulator that includes basic building blocks for platooning.
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Physical Sciences and Engineering
Computer Science
Computer Science Applications
Authors
Alberto Petrillo, Alessandro Salvi, Stefania Santini, Antonio Saverio Valente,