Vehicle-2-Vehicle Communication Based on Wireless Sensor Network

Truck Platooning is a car innovation that permits gathering various trucks into a single element where one truck intently takes after the other that outcomes in an expanded street limit. This kind of detachment allows to a significant degree tight separations and synchronous driving between the vehicles.  Our point is to plan and exhibit a self-ruling truck platooning framework given vehicle-to-vehicle (V2V) correspondence innovation. The structure utilises IEEE 802.15.4 remote convention joined with separation going sensors to enable vehicles inside the company to safely trade data progressively and naturally break and quicken in light of the lead truck. The rapid of remote correspondence permits to a significant degree tight separations and synchronous driving between the platooning vehicles

Synthesis of Distributed Longitudinal Control Protocols for a Platoon of Autonomous Vehicles

We develop a framework for control protocol synthesis for a platoon of autonomous vehicles subject to temporal logic specifications. We describe the desired behavior of the platoon in a set of linear temporal logic formulas, such as collision avoidance, close spacing or comfortability. The problem of decomposing a global specification for the platoon into distributed specification for each pair of adjacent vehicles is hard to solve. We use the invariant specifications to tackle this problem and the decomposition is proved to be scalable.. Based on the specifications in Assumption/Guarantee form, we can construct a two-player game (between the vehicle and its closest leader) locally to automatically synthesize a controller protocol for each vehicle. Simulation example for a distributed vehicles control problem is also shown

Robust Distributed Control Protocols for Large Vehicular Platoons with Prescribed Transient and Steady State Performance

In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully distributed in the sense that each vehicle utilizes feedback from its relative position with respect to its preceding and following vehicles as well as its own velocity, which can all be easily obtained by onboard sensors. Moreover, no previous knowledge of model nonlinearities/disturbances is incorporated in the control design, enhancing in that way the robustness of the overall closed loop system against model imperfections. Additionally, certain designer-specified performance functions determine the transient and steady-state response, thus preventing connectivity breaks due to sensor limitations as well as inter-vehicular collisions. Finally, extensive simulation studies and a real-time experiment conducted with mobile robots clarify the proposed control protocols and verify their effectiveness.Comment: IEEE Transactions on Control Systems Technology, accepte

CONTROL ALGORITHMS FOR GROUPS OF KINEMATIC UNICYCLE AND SKID-STEERING MOBILE ROBOTS WITH RESTRICTED INPUTS

Abstract. The paper presents analytical and practical studies concerning the control problems of a group of Wheeled Mobile Robots (WMRs) subject to physical constraints. Firstly, controllers for achieving trajectory tracking for kinematic unicycle-like and skidsteering mobile robots with restricted control inputs are established. Next, the underlying tracking controllers are applied for group control under the condition of actuator constraints. In particular we are developing control strategies for establishing rigid and convoy-like formations for vehicles with bounded inputs. The group control approach is based on the concepts of virtual robot and virtual formation. The proposed controllers employ smooth bounded functions that can easily be realized. The performance of the resulting controllers are demonstrated by means of numerical and simulation results

Synthesis of Distributed Longitudinal Control Protocols for a Platoon of Autonomous Vehicles

We develop a framework for control protocol synthesis for a platoon of autonomous vehicles subject to temporal logic specifications. We describe the desired behavior of the platoon in a set of linear temporal logic formulas, such as collision avoidance, close spacing or comfortability. The problem of decomposing a global specification for the platoon into distributed specification for each pair of adjacent vehicles is hard to solve. We use the invariant specifications to tackle this problem and the decomposition is proved to be scalable.. Based on the specifications in Assumption/Guarantee form, we can construct a two-player game (between the vehicle and its closest leader) locally to automatically synthesize a controller protocol for each vehicle. Simulation example for a distributed vehicles control problem is also shown

Improved information flow topology for vehicle convoy control

A vehicle convoy is a string of inter-connected vehicles moving together for mutual support, minimizing traffic congestion, facilitating people safety, ensuring string stability and maximizing ride comfort. There exists a trade-off among the convoy's performance indices, which is inherent in any existing vehicle convoy. The use of unrealistic information flow topology (IFT) in vehicle convoy control, generally affects the overall performance of the convoy, due to the undesired changes in dynamic parameters (relative position, speed, acceleration and jerk) experienced by the following vehicle. This thesis proposes an improved information flow topology for vehicle convoy control. The improved topology is of the two-vehicle look-ahead and rear-vehicle control that aimed to cut-off the trade-off with a more robust control structure, which can handle constraints, wider range of control regions and provide acceptable performance simultaneously. The proposed improved topology has been designed in three sections. The first section explores the single vehicle's dynamic equations describing the derived internal and external disturbances modeled together as a unit. In the second section, the vehicle model is then integrated into the control strategy of the improved topology in order to improve the performance of the convoy to two look-ahead and rear. The changes in parameters of the improved convoy topology are compared through simulation with the most widely used conventional convoy topologies of one-vehicle look-ahead and that of the most human-driver like (the two-vehicle look-ahead) convoy topology. The results showed that the proposed convoy control topology has an improved performance with an increase in the intervehicular spacing by 19.45% and 18.20% reduction in acceleration by 20.28% and 15.17% reduction in jerk by 25.09% and 6.25% as against the one-look-ahead and twolook- ahead respectively. Finally, a model predictive control (MPC) system was designed and combined with the improved convoy topology to strictly control the following vehicle. The MPC serves the purpose of handling constraints, providing smoother and satisfactory responses and providing ride comfort with no trade-off in terms of performance or stability. The performance of the proposed MPC based improved convoy topology was then investigated via simulation and the results were compared with the previously improved convoy topology without MPC. The improved convoy topology with MPC provides safer inter-vehicular spacing by 13.86% refined the steady speed to maneuvering speed, provided reduction in acceleration by 32.11% and a huge achievement was recorded in reduction in jerk by 55.12% as against that without MPC. This shows that the MPC based improved convoy control topology gave enough spacing for any uncertain application of brake by the two look-ahead or further acceleration from the rear-vehicle. Similarly, manoeuvering speed was seen to ensure safety ahead and rear, ride comfort was achieved due to the low acceleration and jerk of the following vehicle. The controlling vehicle responded to changes, hence good handling was achieved

On Microscopic Modelling of Adaptive Cruise Control Systems

AbstractThe Adaptive Cruise Control (ACC) system, is one of the emerging vehicle technologies that has already been deployed in the market. Although it was designed mainly to enhance driver comfort and passengers’ safety, it also affects the dynamics of traffic flow. For this reason, a strong research interest in the field of modelling and simulation of ACC-equipped vehicles has been increasingly observed in the last years. In this work, previous modelling efforts reported in the literature are reviewed, and some critical aspects to be considered when designing or simulating such systems are discussed. Moreover, the integration of ACC-equipped vehicle simulation in the commercial traffic simulator Aimsun is described; this is subsequently used to run simulations for different penetration rates of ACC-equipped vehicles, different desired time-gap settings and different networks, to assess their impact on traffic flow characteristics