Lateral control of vehicle platoons with on board sensing and inter vehicle communication
This paper presents a lateral control strategy for a platoon of vehicles which utilises only data which can realistically be measured by each vehicle, augmented with Inter Vehicle Communication (IVC) The control problem resembles those which exist for longitudinal control and this introduces the challenge of estimating a vehicles lateral position and velocity when direct measurement is not possible (due to lane markings being obscured by a preceding vehicle) It is shown that the associated robust controller, which we propose, exhibits string stability in the presence of sensor and actuation delays and a high fidelity simulation is conducted to verify this.
2016 European Control Conference (ECC)