Combined_ACC_LK_20200213.pdf (497.14 kB)
Robust Cooperative Adaptive Cruise Control of Vehicles on Banked and Curved Roads with Sensor Bias
conference contribution
posted on 2020-04-06, 08:25 authored by Jianglin Lan, Dezong Zhao, Tian DaxinThis paper considers cooperative adaptive cruise
control (CACC) for automated vehicles on banked and curved
roads. In such context, the existing longitudinal control alone
cannot guarantee robustly stable CACC, because the vehicle
longitudinal dynamics are coupled with the lateral dynamics.
This gives rise to the necessity of incorporating the lane keeping
(LK) control with CACC for the following vehicle to guarantee
lateral stability and adaptive cruise. A robustly independent
design strategy is proposed for determining a linear parameter
varying (LPV) LK controller and a constant gain CACC
controller. The influence of sensor bias and noise is also
considered and a linear time-varying generalized augmented
state observer (LTV-GASO) is developed to obtain optimal
state estimation of the CACC and LK systems. Designs of the
observers and controllers for CACC and LK systems follow
a similar scheme with an easily solved linear optimization
problem formulation. This facilitates the overall vehicle control
system design and implementation. Simulation of a platoon in
actual traffic environment illustrates efficacy of the proposed
designs in achieving robustly stable vehicle following and lateral
stability.
Funding
Engineering and Physical Sciences Research Council of UK under the EPSRC-UKRI Innovation Fellowship scheme (EP/S001956/1)
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Pages
2276 - 2281Source
2020 American Control Conference (ACC2020)Publisher
IEEEVersion
- AM (Accepted Manuscript)
Rights holder
© AACCPublisher statement
Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Acceptance date
2020-01-16Publication date
2020-07-27Copyright date
2020ISBN
9781538682661ISSN
2378-5861Publisher version
Language
- en
Location
Denver, CO, USAEvent dates
1st July 2020 - 3rd July 2020Depositor
Dr Jianglin Lan Deposit date: 5 April 2020Usage metrics
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