Unfalsified uncertainty modeling for computing tight bounds on peak spacing errors in vehicle platoons

Gabor Rodonyi, Peter Gaspar, Jozsef Bokor

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

3 Citations (Scopus)

Abstract

A joint uncertainty modeling and robust performance analysis method is proposed for describing brake/driveline actuator uncertainties in heavy vehicles and calculating tight upper bounds on peak spacing errors due to these uncertainties in autonomous vehicle platoons. Evaluation of robust performance of the platoon in terms of peak-to-peak norm is imperative in determining minimal safety gaps. The method can be characterized as a constrained nonlinear optimization problem that can be efficiently solved by pattern search algorithms. Actuator uncertainties are modeled by filtered ℓ disturbances. The set of consistent filters are determined from experimental data based on unfalsification. From this set of filters the one is selected that provides the smallest upper bounds on peak spacing errors. Calculations based on experimental data are presented.

Original languageEnglish
Title of host publication2013 American Control Conference, ACC 2013
Pages3057-3062
Number of pages6
Publication statusPublished - Sep 11 2013
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: Jun 17 2013Jun 19 2013

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2013 1st American Control Conference, ACC 2013
CountryUnited States
CityWashington, DC
Period6/17/136/19/13

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Rodonyi, G., Gaspar, P., & Bokor, J. (2013). Unfalsified uncertainty modeling for computing tight bounds on peak spacing errors in vehicle platoons. In 2013 American Control Conference, ACC 2013 (pp. 3057-3062). [6580300] (Proceedings of the American Control Conference).