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An Integrated Lateral and Longitudinal Look Ahead Controller for Cooperative Vehicular Platooning

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Intelligent Transport Systems, From Research and Development to the Market Uptake (INTSYS 2020)

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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.

This work was partially supported by National Funds through FCT/MCTES (Portuguese Foundation for Science and Technology), within the CISTER Research Unit (UIDB/04234/2020).

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Authors and Affiliations

  1. CISTER Research Centre, ISEP, Rua Alfredo Allen 535, 4200-135, Porto, Portugal

    Enio Vasconcelos Filho, Ricardo Severino & Eduardo Tovar

  2. Prince Sultan University, Riyadh, Saudi Arabia

    Anis Koubaa

Authors
  1. Enio Vasconcelos Filho
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  2. Ricardo Severino
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  3. Anis Koubaa
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  4. Eduardo Tovar
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Corresponding author

Correspondence to Enio Vasconcelos Filho .

Editor information

Editors and Affiliations

  1. University Institute of Lisbon, Lisbon, Portugal

    Ana Lúcia Martins

  2. University Institute of Lisbon, Lisbon, Portugal

    João C. Ferreira

  3. University of Pisa, Pisa, Italy

    Alexander Kocian

  4. University of Porto, Porto, Portugal

    Vera Costa

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Vasconcelos Filho, E., Severino, R., Koubaa, A., Tovar, E. (2021). An Integrated Lateral and Longitudinal Look Ahead Controller for Cooperative Vehicular Platooning. In: Martins, A.L., Ferreira, J.C., Kocian, A., Costa, V. (eds) Intelligent Transport Systems, From Research and Development to the Market Uptake. INTSYS 2020. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 364. Springer, Cham. https://doi.org/10.1007/978-3-030-71454-3_9

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  • DOI: https://doi.org/10.1007/978-3-030-71454-3_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-71453-6

  • Online ISBN: 978-3-030-71454-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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