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Longitudinal control of a platoon of vehicles with no communication of lead vehicle information: a system level study

1993; Institute of Electrical and Electronics Engineers; Volume: 42; Issue: 4 Linguagem: Inglês

10.1109/25.260756

1939-9359

Shahab Sheikholeslam, C. Desoer,

Advanced Control Systems Optimization

The paper considers the problem of longitudinal control of a platoon of automotive vehicles on a straight lane of a highway and proposes control laws in the event of loss of communication between the lead vehicle and the other vehicles in the platoon. After discussing the main design objectives for the proposed control laws, the authors formulate these objectives as a constrained optimization problem. By solving this optimization problem, they obtain longitudinal control laws for a platoon of vehicles which does not use any communication from the lead vehicle to the other vehicles in the platoon. Comparison between these control laws and the control laws which use such a communication link to transmit lead-vehicle information to the other vehicles in a platoon shows that, in the case of loss of communication between the lead vehicle and the other vehicles, the performance of the longitudinal control laws degrades; however, this degradation is not catastrophic. >