Abstract
This article presents a local control approach to linear vehicle platooning. Linear platoon systems are sets of vehicles that use local or global perception capabilities to form a train configuration, without any hard grip element. Public transportation is beginning to interest in platoon systems as a technological base to conceive new services. The main problem related to platoon system’s control corresponds with maintaining inter-vehicle distance. In literature, the platoon’s geometry control problem is treated according to two approaches: global or local vehicle control. This paper focuses on a local approach which does not require sophisticated sensors and/or costly road equipment. This local control approach intends to obtain very good global matching to arbitrary trajectories, only from local perception which consists in measuring the vectorial distance between a given vehicle and its predecessor. The behavior of each platoon vehicle is determined from a physics inspired multi agent interaction model based on a virtual spring-damper. Furthermore, stability, platoon safety properties are checked using physics and mathematical proofs. Finally, simulation is used to measure trajectory error and inter-vehicle distance evolution.
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Contet, JM., Gechter, F., Gruer, P., Koukam, A. (2009). Bending Virtual Spring-Damper: A Solution to Improve Local Platoon Control. In: Allen, G., Nabrzyski, J., Seidel, E., van Albada, G.D., Dongarra, J., Sloot, P.M.A. (eds) Computational Science – ICCS 2009. Lecture Notes in Computer Science, vol 5544. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-01970-8_59
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DOI: https://doi.org/10.1007/978-3-642-01970-8_59
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