Cooperative adaptive cruise control (CACC) allows for short-distance automatic vehicle following using intervehicle wireless communication in addition to onboard sensors, thereby potentially improving road throughput. In order to fulfill performance, safety, and comfort requirements, a CACC-equipped vehicle platoon should be string stable, attenuating the effect of disturbances along the vehicle string. Therefore, a controller design method is developed that allows for explicit inclusion of the string stability requirement in the controller synthesis specifications. To this end, the notion of string stability is introduced first, and conditions for ${\cal L}_{2}$ string stability of linear systems are presented that motivate the development of an ${\cal H}_{\infty}$ controller synthesis approach for string stability. The potential of this approach is illustrated by its application to the design of controllers for CACC for one- and two-vehicle look-ahead communication topologies. As a result, ${\cal L}_{2}$ string-stable platooning strategies are obtained in both cases, also revealing that the two-vehicle look-ahead topology is particularly effective at a larger communication delay. Finally, the results are experimentally validated using a platoon of three passenger vehicles, illustrating the practical feasibility of this approach.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Controller Synthesis for String Stability of Vehicle Platoons


    Contributors:


    Publication date :

    2014-04-01


    Size :

    1212562 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Lateral string stability of vehicle platoons

    Alleleijn, J.H.H.M. / Nijmeijer, Henk / Öncü, Sinan et al. | BASE | 2014

    Free access



    Lateral String Stability in Autonomous & Connected Vehicle Platoons

    Somisetty, Neelkamal / Darbha, Swaroop | IEEE | 2024