Provably safe cruise control of vehicular platoons

被引：30
|
作者：
Sadraddini S. [1 ]
Sivaranjani S. [2 ]
Gupta V. [2 ]
Belta C. [1 ]
机构：
[1] Department of Mechanical Engineering, Boston University, Boston, 02134, MA
[2] Department of Electrical Engineering, University of Notre Dame, South Bend, 46637, IN
来源：
Sadraddini, Sadra (sadra@bu.edu) | 2017年 / Institute of Electrical and Electronics Engineers Inc., United States卷 / 01期
基金：
美国国家科学基金会;
关键词：
Autonomous vehicles; Constrained control; Robust control;
D O I：
10.1109/LCSYS.2017.2713772
中图分类号：
学科分类号：
摘要：
We synthesize performance-aware safe cruise control policies for longitudinal motion of platoons of autonomous vehicles. Using set-invariance theories, we guarantee infinite-time collision avoidance in the presence of bounded additive disturbances, while ensuring that the length and the cruise speed of the platoon are bounded within specified ranges. We propose: 1) a centralized control policy and 2) a distributed control policy, where each vehicle’s control decision depends solely on its relative kinematics with respect to the platoon leader. Numerical examples are included. © 2017 IEEE.
引用
收藏
页码：262 / 267
页数：5
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