Effects of communication delay on string stability in vehicleplatoons
X Liu, A Goldsmith, SS Mahal, JK Hedrick – Intelligent Transportation Systems, 2001. Proceedings. 2001 …, 2001 – ieeexplore.ieee.org
Pasted from <http://scholar.google.com/scholar?hl=en&lr=&cluster=16089492950925094723>
- The so-called “string stability” problem has been studied as early as 1977 [4]
- The string-stability ensures that range errors decrease as they propagate along he
- To achieve string stability with constant inter-vehicle spacing, vehicle-to-vehicle communication was shown to be necessary [6].
- stability degradation will be shown in the context of the “string stability margin” (SSM) which is an index defined to measure the string stability of a vehicle.
String stability analysis of adaptive cruise controlled vehicles
CY LIANG, H PENG – JSME international journal. Series C, Mechanical systems, …, 2000 – cat.inist.fr
Pasted from <http://scholar.google.com/scholar?hl=en&lr=&cluster=7586332182666566957>
See http://www-personal.umich.edu/~hpeng/JSME2000.pdf for PDF of paper
vehicle stream.
Modeling and Control of Formations of Nonholonomic Mobile Robots
JP Desai, JP Ostrowski, RV Kumar – IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2001 – repository.upenn.edu
Pasted from <http://scholar.google.com/scholar?hl=en&lr=&cluster=9580753416831202042>
- The demonstration system included eight automobiles traveling at a spacing of 6.5 meters at 60 mph. The functions demonstrated included: lane-keeping, lane-changing [7, 8, 11], close spacing longitudinal control [9, 13, 14], and platoon split and join.
- The string stability of a platoon refers to a property in which spacing errors attenuate down the platoon [ 121. A necessary condition for string stability is to make sure that the gain of any transfer function from preceding spacing error (q,) to current spacing error (EJ is less than 1 for any frequency.
- To ensure the string stability of the platoon while maintaining constant small intercar spacing, the upper level controller required the following feedback information to calculate the desired acceleration:
- acceleration of the preceding car
- relative velocity with preceding car
- distance to preceding car
- acceleration of lead car of the platoon
- relative velocity with lead car of the platoon
- A wireless communication system was used among the vehicles in the platoon to obtain all of the above signals.
Demonstration of an automated highway platoon system
Han-Shue Tan; Rajamani, R.; Wei-Bin Zhang;
American Control Conference, 1998. Proceedings of the 1998
Volume 3, 24-26 June 1998 Page(s):1823 – 1827 vol.3
[PDF] AUTOMATED HIGHWAY SYSTEMS: PLATOONS OF VEHICLES VIEWED AS A MULTIAGENT SYSTEM
S HALLE – theses.ulaval.ca
Pasted from <http://scholar.google.com/scholar?hl=en&lr=&cluster=2430493831008310297>
This is a thesis — seems quite readable
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