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Robust Cooperative Adaptive Cruise Control of Vehicles on Banked and Curved Roads with Sensor Bias

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conference contribution
posted on 2020-04-06, 08:25 authored by Jianglin Lan, Dezong Zhao, Tian Daxin
This 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 - 2281

Source

2020 American Control Conference (ACC2020)

Publisher

IEEE

Version

  • AM (Accepted Manuscript)

Rights holder

© AACC

Publisher 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

2020-01-16

Publication date

2020-07-27

Copyright date

2020

ISBN

9781538682661

ISSN

2378-5861

Language

  • en

Location

Denver, CO, USA

Event dates

1st July 2020 - 3rd July 2020

Depositor

Dr Jianglin Lan Deposit date: 5 April 2020

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