AAC 2019 Paper Abstract

AAC 2019 Paper Abstract

Paper WeAT1.1

Schwab, Alexander (Ruhr-Universität Bochum), Lunze, Jan (Ruhr-Universität Bochum)

Vehicle Platooning and Cooperative Merging

Scheduled for presentation during the Regular Session "Guidance and Collision Avoidance" (WeAT1), Wednesday, June 26, 2019, 10:30−10:50, Chambord

9th IFAC International Symposium on Advances in Automotive Control, June 23-27, 2019, Orléans, France

This information is tentative and subject to change. Compiled on April 26, 2024

Keywords Adaptive Cruise Control, Heading Control, Lanekeeping, Driver Warning Systems, Systems Based on Car-to-x-communication, Autonomous Driving and Collision Avoidance: Sensor Fusion, Modeling of the Environment, Control Architectures

Abstract

This paper presents a solution to the vehicle merging problem using distributed controllers. In order to guarantee collision avoidance, a state feedback law is utilised to generate externally positive dynamics for the controlled vehicles. These vehicles are temporarily connected via a communication network that enables them to exchange information. The networked control scheme handles the lane switching scenario with a feed-forward control law to create a gap for the lane changing vehicle. It is shown that the proposed controllers guarantee a collision-free vehicle merging.