Minimizing the inter-vehicle distances of the time headway policy for platoon control on highways

International audience Heavy traffic on highways requires the optimization of inter-distances between vehicles in order to reach time performance and to provide safety solution in transport. Variable spacing and constant spacing are the two policies for the longitudinal control of platoon. Variable...

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Bibliographic Details
Main Authors: Ali, Alan, Garcia, Gaëtan, Martinet, Philippe
Other Authors: Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)
Format: Conference Object
Language:English
Published: HAL CCSD 2013
Subjects:
Platoon
control
time headway
constant spacing
string stability
inter-vehicle distance
highways
[SPI.AUTO]Engineering Sciences [physics]/Automatic
Reykjavík
Iceland
Online Access:https://hal.inria.fr/hal-02462069
https://hal.inria.fr/hal-02462069/document
https://hal.inria.fr/hal-02462069/file/ICINCO13-ali.pdf
Description
Summary:International audience Heavy traffic on highways requires the optimization of inter-distances between vehicles in order to reach time performance and to provide safety solution in transport. Variable spacing and constant spacing are the two policies for the longitudinal control of platoon. Variable spacing doesn't require a lot of data (position, speed.) from other vehicles, and string stability using only on-board information is obtained. However, inter-vehicle distances are very large, and hence traffic density is low. Constant spacing can offer string stability with high traffic density, but it requires at least data from the leader. In this paper, a novel expression of the variable spacing policy has been proposed. It is effective to decrease the distance between the cars, to become nearly equal to the constant spacing policy. It also enables increasing the string stability and the robustness of the control regarding to unmodeled lags, and it can avoid control torque saturation. This novel approach doesn't require heavy communication between the cars. The new control law has been evaluated by simulation with perfect system using Matlab, and with imperfect system using TORCS. The good results have demonstrated the effectiveness of the novel approach.

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