Authors:
Gábor Rödönyi
1
;
Péter Gaspár
1
;
József Bokor
1
and
László Palkovics
2
Affiliations:
1
Hungarian Academy of Sciences, Hungary
;
2
Knorr-Bremse Brake-systems Gmbh, Hungary
Keyword(s):
Vehicle Platoon, Peak-to-peak Gain, Model Set Identification, Unfalsification.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Intelligent Transportation Technologies and Systems
;
Robotics and Automation
;
Vehicle Control Applications
Abstract:
From the model set identification through the control design and robust performance analysis to the implementation and experimental verification, the whole design process for an automated vehicle platoon is presented. The goal is to demonstrate that safe platooning with acceptable performance can be achieved by utilizing the services already available on every commercial heavy trucks with automated gearbox. Using the services, the control design reduces to the selection of four design parameters, the static gain coefficients of the output-feedback-input-feed-forward controller common for every vehicle. It is experimentally demonstrated, that in normal driving maneuvers, the spacing errors are less than three meters.