Adaptation of spacing policy of autonomous vehicles based on an unknown input and state observer for a virtual predecessor vehicle

Gábor Rödönyi, Z. Szabó

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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 participants 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.

Original languageEnglish
Title of host publication2016 IEEE 55th Conference on Decision and Control, CDC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1715-1720
Number of pages6
ISBN (Electronic)9781509018376
DOIs
Publication statusPublished - Dec 27 2016
Event55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, United States
Duration: Dec 12 2016Dec 14 2016

Other

Other55th IEEE Conference on Decision and Control, CDC 2016
CountryUnited States
CityLas Vegas
Period12/12/1612/14/16

Fingerprint

Unknown Inputs
State Observer
Autonomous Vehicles
Spacing
Joining
Inconsistency
Policy
Observer
Inversion
Choose
Traffic
Alternatives
Communication
Simulation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Decision Sciences (miscellaneous)
  • Control and Optimization

Cite this

Rödönyi, G., & Szabó, Z. (2016). Adaptation of spacing policy of autonomous vehicles based on an unknown input and state observer for a virtual predecessor vehicle. In 2016 IEEE 55th Conference on Decision and Control, CDC 2016 (pp. 1715-1720). [7798512] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2016.7798512

Adaptation of spacing policy of autonomous vehicles based on an unknown input and state observer for a virtual predecessor vehicle. / Rödönyi, Gábor; Szabó, Z.

2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 1715-1720 7798512.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Rödönyi, G & Szabó, Z 2016, Adaptation of spacing policy of autonomous vehicles based on an unknown input and state observer for a virtual predecessor vehicle. in 2016 IEEE 55th Conference on Decision and Control, CDC 2016., 7798512, Institute of Electrical and Electronics Engineers Inc., pp. 1715-1720, 55th IEEE Conference on Decision and Control, CDC 2016, Las Vegas, United States, 12/12/16. https://doi.org/10.1109/CDC.2016.7798512
Rödönyi G, Szabó Z. Adaptation of spacing policy of autonomous vehicles based on an unknown input and state observer for a virtual predecessor vehicle. In 2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 1715-1720. 7798512 https://doi.org/10.1109/CDC.2016.7798512
Rödönyi, Gábor ; Szabó, Z. / Adaptation of spacing policy of autonomous vehicles based on an unknown input and state observer for a virtual predecessor vehicle. 2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 1715-1720
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