Research Article
An Integrated Lateral and Longitudinal Look Ahead Controller for Cooperative Vehicular Platooning
@INPROCEEDINGS{10.1007/978-3-030-71454-3_9, author={Enio Vasconcelos Filho and Ricardo Severino and Anis Koubaa and Eduardo Tovar}, title={An Integrated Lateral and Longitudinal Look Ahead Controller for Cooperative Vehicular Platooning}, proceedings={Intelligent Transport Systems, From Research and Development to the Market Uptake. 4th EAI International Conference, INTSYS 2020, Virtual Event, December 3, 2020, Proceedings}, proceedings_a={INTSYS}, year={2021}, month={7}, keywords={Cooperative platooning Safety V2V}, doi={10.1007/978-3-030-71454-3_9} }- Enio Vasconcelos Filho
Ricardo Severino
Anis Koubaa
Eduardo Tovar
Year: 2021
An Integrated Lateral and Longitudinal Look Ahead Controller for Cooperative Vehicular Platooning
INTSYS
Springer
DOI: 10.1007/978-3-030-71454-3_9
Abstract
Cooperative Vehicular Platooning (CoVP), has been emerging as a challenging Intelligent Traffic Systems application, promising to bring-about several safety and societal benefits. Relying on V2V communications to control such cooperative and automated actions brings several advantages. In this work, we present a Look Ahead PID controller for CoVP that solely relies upon V2V communications, together with a method to reduce the disturbance propagation in the platoon. The platooning controller also implements a solution to solve the cutting corner problem, keeping the platooning alignment. We evaluate its performance and limitations in realistic simulation scenarios, analyzing the stability and lateral errors of the CoVP, proving that such V2V enabled solutions can be effectively implemented.