文章基本信息

标题：Gap Opening Controller Design to Accommodate Merges in Cooperative Autonomous Platoons ⁎
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作者：Wouter J. Scholte ; Peter W.A. Zegelaar ; Henk Nijmeijer 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：15294-15299
DOI：10.1016/j.ifacol.2020.12.2327
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, a cooperative platoon-based gap opening controller is developed. The intended application is gap creation in cooperative platoons to accommodate merges with spatial restrictions. Therefore, the main objective is to execute the maneuver in a predefined time. The controller design is based on a regular cooperative adaptive cruise control algorithm with an additional feedforward term for a desired gap. Experimental validation of the controller is performed with small mobile robots. The proposed control strategy is capable of opening the gap in a predefined time. In future work, this strategy can be used in the design of a merging algorithm specifically for CACC platoons.
关键词：KeywordsAutonomous vehiclesAutomotive controlClosed-loop gainPD controllersTrajectory planning