String Stability of a Vehicular Platoon with the use of Macroscopic Information

We investigate the possibility to use macroscopic information to improve control performance of a vehicular platoon composed of autonomous vehicles. A general mesoscopic traffic modeling is described, and a closed loop String Stability analysis is performed using Input-to-State Stability (ISS) results. Examples of mesoscopic control laws are provided and shown to ensure String Stability properties. Simulations are implementedin order to validate the control laws and to show the efficacy of the proposed approach.Comment: arXiv admin note: substantial text overlap with arXiv:2003.1252

Scalable Stability of Nonlinear Interconnected Systems in case of amplifying Perturbations

International audienceThis paper investigates the stability of large-scale systems (LSSs) in the presence of subsystems that amplify the perturbations propagated by their neighborhood, possibly leading to undesired behaviors of the overall interconnected system. Then, sufficient conditions ensuring the system trajectories boundedness and the subsequent LSS asymptotic stability in the sense of scalable Mesh Stability are proven to exist. The theoretical results show that there exists a dependence between the stability and the topology of the interconnected system. The obtained framework is then exploited for the stability analysis of a network of electrical microgrids, showing the effectiveness of the theoretical results

On the utilization of Macroscopic Information for String Stability of a Vehicular Platoon

The use of macroscopic information for the control of a vehicular platoon composed of autonomous vehicles is investigated. A mesoscopic control law is provided, and String Stability is proved by Lyapunov functions and Input-to-State Stability (ISS) concepts. Simulations are implemented in order to validate the controller and to show the efficacy of the proposed approach for mitigating traffic oscillations

Mesoscopic Controller for String Stability of Platoons With Disturbances

International audienceThis paper exploits macroscopic information for the control of autonomous vehicles in platoon formation in case of external disturbances. The use of such information leads to a smoother platooning. A mesoscopic controller is proposed, and Disturbance String Stability is proven through Input-to-State Stability (ISS) concepts. Simulations prove the efficacy of the proposed approach by showing its robustness with respect to the presence of perturbations acting on the platoon vehicles

Scalable Mesh Stability of Nonlinear Interconnected Systems

International audienceThis paper deals with large-scale interconnected systems with general network topology, affected by external disturbances, and with the possibility to ensure the overall stability when some sufficient conditions are met by each agent with respect to its neighbors. We introduce the notion of scalable Mesh Stability (sMS), that requires the existence of trajectory bounds that do not depend on the number of subsystems. The immediate consequence is that perturbations originating in a point of the interconnected system do not amplify through it. A numerical example on interconnection of microgrids shows the interest and the effectiveness of the theoretical result

A Mesoscopic Human-Inspired Adaptive Cruise Control for Eco-Driving

International audienceInterconnected and autonomous vehicles are proven to be helpful in reducing traffic congestion and dangerous emissions while enhancing safety on our roads. In this context, the present paper introduces a human-inspired Adaptive Cruise Control dedicated to improving the passenger experience using Model Predictive Control and traffic macroscopic information. To better describe the characteristics of human drivers, first a human-inspired microscopic hybrid automaton is considered, and an optimization problem targeting consumption minimization and collision avoidance is designed with a receding horizon approach. Then, traffic macroscopic information is included in the controller definition so that a mesoscopic Adaptive Cruise Control model is obtained. Simulations showing the efficacy of the proposed approaches for safety and eco-driving are provided

Path generation based on convex lifting: optimization of the corridors

International audienceThe capability to compute a partition of a cluttered environment starting from the obstacles that lie in it enables the construction of a route connecting an initial point to a desired final one. In this paper, we revisit the convex lifting method for the computation of a suitable partition of the cluttered environment with the objective to propose a systematic procedure of reorganization of the cells within the partition in order to repel their boundaries from the obstacles. The ultimate goal is the construction of a connecting-path between an initial point and a final point characterized by a corridor with improved width guaranteeing the collision avoidance. The qualities of the corridors will impact the constraints on the motion of the controlled agent and consequently the real-time performance and robustness of the navigation in a cluttered environment

Path generation based on convex lifting: optimization of the corridors

International audienceThe capability to compute a partition of a cluttered environment starting from the obstacles that lie in it enables the construction of a route connecting an initial point to a desired final one. In this paper, we revisit the convex lifting method for the computation of a suitable partition of the cluttered environment with the objective to propose a systematic procedure of reorganization of the cells within the partition in order to repel their boundaries from the obstacles. The ultimate goal is the construction of a connecting-path between an initial point and a final point characterized by a corridor with improved width guaranteeing the collision avoidance. The qualities of the corridors will impact the constraints on the motion of the controlled agent and consequently the real-time performance and robustness of the navigation in a cluttered environment