Mobility Compass

• Ploeg, J.
• Aakre, O. L.
• Bayuwindra, A.
• Nijmeijer, H.

Abstract

This paper presents the controller design for combined lateral and longitudinal Cooperative Adaptive Cruise Control (CACC) for a unicycle-type platoon with emphasis on the cornering maneuvers. A decentralized controller for lateral and longitudinal behavior is designed using input-output linearization by static feedback. A preceding vehicle look-ahead approach is adapted in the controller to maintain desired inter-vehicle distance. However, due to the position control of the look-ahead point, the follower vehicle may cut corners on turns. In this paper, the extension of a look-ahead point that is able to compensate the cutting-corner behavior is then proposed. To validate the theoretical analysis, the full nonlinear system together with the developed controller is simulated for two scenarios, a circular path and a particular path scenario, and a comparison is made between the system with the preceding vehicle look-ahead and the extended look-ahead. The simulation shows that the proposed lateral and longitudinal controller using the extended look-ahead eliminates the cutting corner behavior.

Topics

• simulation
• theory
• road
• behavior
• cutting
• design
• laceration
• steering
• fluid
• control device
• nonlinear system
• cruise control
• vehicle safety
• autonomous intelligent cruise control
• adaptive control

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