| Texto completo | |
| Autor(es): |
Silva, Emerson A.
;
Mozelli, Leonardo A.
;
Neto, Armando Alves
;
Souza, Fernando O.
Número total de Autores: 4
|
| Tipo de documento: | Artigo Científico |
| Fonte: | COMPUTERS & ELECTRICAL ENGINEERING; v. 123, p. 19-pg., 2025-01-24. |
| Resumo | |
Vehicle platooning, i.e., enforcing a longitudinal formation of vehicles that follow each other closely, is a promising solution to stringent problems that affect traffic worldwide. Better results ensue using autonomous driving support systems and connectivity technology enabled by the Internet of Vehicles, typically in a Vehicle-to-Vehicle topology through a wireless network. We propose a new protocol for stabilizing vehicle platoons to address the real-world challenges of this distributed networked control system. We assume that the connected and automated vehicles drive in dedicated lanes, operating under a constant spacing policy, but subject to heterogeneous dynamics, connected through look-ahead topologies, with heterogeneous delays in the transmission channels, contending with distributed disturbances from external or internal sources. The modified controller incorporates an integral term and delay compensation, thus enabling the formation to counteract disturbances and zero the spacing errors in steady-state. Unlike previous approaches considering disturbances originating only from the leader, our proposal handles distributed disturbances, such as road grade, wind gusts, and parametric uncertainty. We formally demonstrate the necessary and sufficient conditions for internal stability and disturbance rejection. Experiments in the Car Learning to Act (CARLA) simulator illustrate the effectiveness and endurance under severe disturbances. We provide numerical comparisons against recent methods, and the analysis reveals that the proposed method improves the performance when real-life conditions are present. (AU) | |
| Processo FAPESP: | 14/50851-0 - INCT 2014: Instituto Nacional de Ciência e Tecnologia para Sistemas Autônomos Cooperativos Aplicados em Segurança e Meio Ambiente |
| Beneficiário: | Marco Henrique Terra |
| Modalidade de apoio: | Auxílio à Pesquisa - Temático |