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.


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    Title :

    Prediction Based Cooperative Adaptive Cruise Control for Heterogeneous Platoons with Delays


    Additional title:

    Lect.Notes Mechanical Engineering



    Conference:

    Advanced Vehicle Control Symposium ; 2024 ; Milan, Italy September 01, 2024 - September 05, 2024



    Publication date :

    2024-10-04


    Size :

    7 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English