7,573 research outputs found
Stability and Equilibrium Analysis of Laneless Traffic with Local Control Laws
In this paper, a new model for traffic on roads with multiple lanes is
developed, where the vehicles do not adhere to a lane discipline. Assuming
identical vehicles, the dynamics is split along two independent directions: the
Y-axis representing the direction of motion and the X-axis representing the
lateral or the direction perpendicular to the direction of motion. Different
influence graphs are used to model the interaction between the vehicles in
these two directions. The instantaneous accelerations of each car, in both X
and Y directions, are functions of the measurements from the neighbouring cars
according to these influence graphs. The stability and equilibrium spacings of
the car formation is analyzed for usual traffic situations such as steady flow,
obstacles, lane changing and rogue drivers arbitrarily changing positions
inside the formation. Conditions are derived under which the formation
maintains stability and the desired intercar spacing for each of these traffic
events. Simulations for some of these scenarios are included.Comment: 8 page
Stability and String Stability Analysis of Formation Control Architectures for Platooning.
This thesis presents theoretical results for stability and string stability
of formation control architectures for platooning. We consider
three important interconnection topologies for vehicles travelling in a
straight line as a string: leader following, cyclic and bidirectional.
For the leader following topology we discuss modifications that allow
reduced coordination requirements. In the first case we consider
the use of the leader velocity as the state to be broadcast to the followers,
rather than the standard use of the leader position. This selection
yields a formation control architecture that achieves string stability
even under time delays in the state broadcast, while reducing typical
coordination requirements of leader following architectures. For the
second modification we change the way in which the leader position
is sent across the string to every follower. This technique keeps some
of the good transient properties of the standard leader following architecture
but eliminates most of the coordination requirements for
the followers. However, we show that this technique does not provide
string stability when time delays are present in the communication.
The second topology that we discuss is a cyclic one, where the first
member of the platoon is forced to track the last one. We discuss two
strategies: one where the inter-vehicle spacings may follow a constanttime
headway spacing policy and one where an independent leader
broadcasts its position to every member of a cyclic platoon. For both
strategies we obtain closed form expressions for the transfer functions
from disturbances to inter-vehicle spacings. These expressions allow
us to show that if the design parameters are not properly chosen, the
vehicle platoon may become unstable when the string size is greater
than a critical number. On the contrary, if the design parameters are
well chosen, both architectures can be made stable and string stable
for any size of the platoon.
The final topology that we consider is bidirectional, where every
member of the platoon, with the exception of the first and last, use
measurements of the two nearest neighbours to control their position
within the string. Although the derivations are more complex than
in the two previous unidirectional cases, we obtain closed form epressions for the dynamics of the platoon. These expressions are in
the form of simple transfer functions from disturbances to vehicles.
They allow us to obtain stability results for any size of the platoon
and understand the behaviour of the least stable pole location as the
string size increases.
All of the results obtained are illustrated by numerical examples
and ad-hoc simulations
Stability and String Stability Analysis of Formation Control Architectures for Platooning.
This thesis presents theoretical results for stability and string stability
of formation control architectures for platooning. We consider
three important interconnection topologies for vehicles travelling in a
straight line as a string: leader following, cyclic and bidirectional.
For the leader following topology we discuss modifications that allow
reduced coordination requirements. In the first case we consider
the use of the leader velocity as the state to be broadcast to the followers,
rather than the standard use of the leader position. This selection
yields a formation control architecture that achieves string stability
even under time delays in the state broadcast, while reducing typical
coordination requirements of leader following architectures. For the
second modification we change the way in which the leader position
is sent across the string to every follower. This technique keeps some
of the good transient properties of the standard leader following architecture
but eliminates most of the coordination requirements for
the followers. However, we show that this technique does not provide
string stability when time delays are present in the communication.
The second topology that we discuss is a cyclic one, where the first
member of the platoon is forced to track the last one. We discuss two
strategies: one where the inter-vehicle spacings may follow a constanttime
headway spacing policy and one where an independent leader
broadcasts its position to every member of a cyclic platoon. For both
strategies we obtain closed form expressions for the transfer functions
from disturbances to inter-vehicle spacings. These expressions allow
us to show that if the design parameters are not properly chosen, the
vehicle platoon may become unstable when the string size is greater
than a critical number. On the contrary, if the design parameters are
well chosen, both architectures can be made stable and string stable
for any size of the platoon.
The final topology that we consider is bidirectional, where every
member of the platoon, with the exception of the first and last, use
measurements of the two nearest neighbours to control their position
within the string. Although the derivations are more complex than
in the two previous unidirectional cases, we obtain closed form epressions for the dynamics of the platoon. These expressions are in
the form of simple transfer functions from disturbances to vehicles.
They allow us to obtain stability results for any size of the platoon
and understand the behaviour of the least stable pole location as the
string size increases.
All of the results obtained are illustrated by numerical examples
and ad-hoc simulations
Modelling supported driving as an optimal control cycle: Framework and model characteristics
Driver assistance systems support drivers in operating vehicles in a safe,
comfortable and efficient way, and thus may induce changes in traffic flow
characteristics. This paper puts forward a receding horizon control framework
to model driver assistance and cooperative systems. The accelerations of
automated vehicles are controlled to optimise a cost function, assuming other
vehicles driving at stationary conditions over a prediction horizon. The
flexibility of the framework is demonstrated with controller design of Adaptive
Cruise Control (ACC) and Cooperative ACC (C-ACC) systems. The proposed ACC and
C-ACC model characteristics are investigated analytically, with focus on
equilibrium solutions and stability properties. The proposed ACC model produces
plausible human car-following behaviour and is unconditionally locally stable.
By careful tuning of parameters, the ACC model generates similar stability
characteristics as human driver models. The proposed C-ACC model results in
convective downstream and absolute string instability, but not convective
upstream string instability observed in human-driven traffic and in the ACC
model. The control framework and analytical results provide insights into the
influences of ACC and C-ACC systems on traffic flow operations.Comment: Submitted to Transportation Research Part C: Emerging Technologie
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