| Tartalom: |
http://real.mtak.hu/40485/ |
| Archívum: |
MTA Könyvtár |
| Gyűjtemény: |
Status = In Press
Type = Conference or Workshop Item
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| Cím: |
Adaptation of Spacing Policy of Autonomous Vehicles Based on an Unknown Input and State Observer for a Virtual Predecessor Vehicle
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| Létrehozó: |
Rödönyi, Gábor
Szabó, Zoltán
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| Dátum: |
2016-12-12
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| Téma: |
TA Engineering (General). Civil engineering (General) / általános mérnöki tudományok
TJ Mechanical engineering and machinery / gépészmérnöki tudományok
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| Tartalmi leírás: |
Autonomous vehicles joining a fully autonomous vehicle platoon or mingling in normal traffic may choose a leader and predecessor following spacing policy for safely keeping smaller distances. Avoiding inconsistency in spacing policies would require an agreement among the platoon par- ticipants via communication, which is not possible with human driven vehicles. An alternative approach is proposed, where the aggregated spacing policy of a part of the platoon is identified. The platoon between the leader and the predecessor vehicles is represented by a virtual predecessor vehicle whose virtual spacing policy is computed using a dynamic inversion based unknown input and state observer. It is shown that the spacing policy of the leader and predecessor following autonomous vehicle can be made consistent with the rest of the platoon by using the identified virtual spacing policy. The usefulness of the method is illustrated by simulation examples.
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| Nyelv: |
magyar
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| Típus: |
Conference or Workshop Item
PeerReviewed
info:eu-repo/semantics/conferenceObject
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| Formátum: |
text
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| Azonosító: |
Rödönyi, Gábor and Szabó, Zoltán (2016) Adaptation of Spacing Policy of Autonomous Vehicles Based on an Unknown Input and State Observer for a Virtual Predecessor Vehicle. In: 55th IEEE Conference on Decision and Control, 2016 december 12-14., Las Vegas, USA. (In Press)
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