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Integrated Longitudinal and Lateral Networked Control System Design for Vehicle Platooning.

Chedia Latrech1, Ahmed Chaibet2, Moussa Boukhnifer3

  • 1Institut VEDECOM, 77 Rue des Chantiers, 78000 Versailles, France. chedia.latrach@yahoo.fr.

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Summary

This study introduces a novel integrated control system for vehicle platooning, enhancing safety and efficiency on roadways. The advanced approach ensures stable vehicle spacing and lane adherence using wireless communication networks.

Keywords:
fuzzy controllinear matrix inequalityplatoon controltime-varying delayvehicle lateral controlvehicle longitudinal control

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Area of Science:

  • Control Engineering
  • Automotive Engineering
  • Wireless Communication Systems

Background:

  • Vehicle platooning offers potential benefits in traffic efficiency and fuel economy.
  • Robust control strategies are essential for safe and reliable platooning operations, especially considering communication constraints.
  • Integrated longitudinal and lateral control is crucial for maintaining vehicle formation and stability.

Purpose of the Study:

  • To propose an integrated longitudinal and lateral control approach for vehicle platooning.
  • To ensure string stability and robust platoon control under various constraints.
  • To develop a control system validated through simulation.

Main Methods:

  • Longitudinal control using Lyapunov functions and BMI conditions for speed and distance regulation.
  • Lateral control employing a multi-model fuzzy controller designed with LMI conditions.
  • Consideration of actuator saturation and communication constraints in control design.
  • Validation using the CarSim software package.

Main Results:

  • Sufficient stability conditions for longitudinal control were formulated in BMI terms.
  • String stability conditions were integrated for robust platoon control.
  • A multi-model fuzzy controller effectively managed lateral vehicle control.
  • The proposed integrated control strategy demonstrated effectiveness in simulations.

Conclusions:

  • The proposed integrated control approach effectively addresses longitudinal and lateral dynamics for vehicle platooning.
  • The method ensures string stability and robustness while considering practical constraints.
  • The use of LMI and BMI conditions provides a computationally feasible design framework.
  • Simulation results confirm the viability and effectiveness of the developed platooning control system.