REAL

Adaptation of Spacing Policy of Autonomous Vehicles Based on an Unknown Input and State Observer for a Virtual Predecessor Vehicle

Rödönyi, Gábor and Szabó, Zoltán (2016) Adaptation of Spacing Policy of Autonomous Vehicles Based on an Unknown Input and State Observer for a Virtual Predecessor Vehicle. In: 55th IEEE Conference on Decision and Control, 2016 december 12-14., Las Vegas, USA. (In Press)

[img] Text
rodonyicdc16final.pdf
Restricted to Registered users only

Download (468kB)

Abstract

Autonomous vehicles joining a fully autonomous vehicle platoon or mingling in normal traffic may choose a leader and predecessor following spacing policy for safely keeping smaller distances. Avoiding inconsistency in spacing policies would require an agreement among the platoon par- ticipants via communication, which is not possible with human driven vehicles. An alternative approach is proposed, where the aggregated spacing policy of a part of the platoon is identified. The platoon between the leader and the predecessor vehicles is represented by a virtual predecessor vehicle whose virtual spacing policy is computed using a dynamic inversion based unknown input and state observer. It is shown that the spacing policy of the leader and predecessor following autonomous vehicle can be made consistent with the rest of the platoon by using the identified virtual spacing policy. The usefulness of the method is illustrated by simulation examples.

Item Type: Conference or Workshop Item (Paper)
Subjects: T Technology / alkalmazott, műszaki tudományok > TA Engineering (General). Civil engineering (General) / általános mérnöki tudományok
T Technology / alkalmazott, műszaki tudományok > TJ Mechanical engineering and machinery / gépészmérnöki tudományok
Depositing User: Gábor Rödönyi
Date Deposited: 29 Sep 2016 14:09
Last Modified: 29 Sep 2016 14:09
URI: http://real.mtak.hu/id/eprint/40485

Actions (login required)

Edit Item Edit Item