We present a prediction based controller for heterogeneous platoons with actuation delay. By using a prediction of the ego vehicle’s acceleration and compensating the ego vehicle’s influence on the error dynamics, we obtain a controller that achieves input-to-state stability (ISS) with respect to the preceding vehicle’s acceleration. The result is a controller that does not require driveline information of the preceding vehicle, which enables platooning in a heterogeneous setting. An analysis is presented of the string stability properties of the system with both actuation and communication delays. The effectiveness of the controller is shown in simulation.
Prediction Based Cooperative Adaptive Cruise Control for Heterogeneous Platoons with Delays
Lect.Notes Mechanical Engineering
Advanced Vehicle Control Symposium ; 2024 ; Milan, Italy September 01, 2024 - September 05, 2024
2024-10-04
7 pages
Article/Chapter (Book)
Electronic Resource
English
Data‐driven cooperative adaptive cruise control for unknown nonlinear vehicle platoons
DOAJ | 2024
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