This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Remote-Controlled Vehicle Platooning via State Estimation in a Communication Network
Technical Paper
2001-01-0801
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Event:
SAE 2001 World Congress
Language:
English
Abstract
In this paper, a platoon merging control system is considered as a remotely located system with state represented by a stochastic process. In this system, it is common to encounter situations where a single decision maker controls a large number of subsystems, and observation and control signals are sent over a communication channel with finite capacity and significant transmission delays. Unlike classical estimation problem where the observation is a continuous process corrupted by additive noise, there is a constraint that the observation must be coded and transmitted over a digital communication channel with finite capacity. A recursive coder-estimator sequence is a state estimation scheme based on observations transmitted with finite communication capacity constraint. In this paper, we introduce a stochastic model for the lead vehicle in a platoon of vehicles in a lane considering the angle between the road surface and a horizontal plane as a stochastic process. In order to merge two platoons, the lead vehicle of the following platoon is controlled by a remote control station. Using the coder-estimator sequence, the remote control station designs the feedback controller. The simulation results show that the inter-vehicle distance and the deviation from the desired inter-vehicle distance are well regulated.
Recommended Content
Authors
Citation
Choi, J., Fang, T., and Kim, Y., "Remote-Controlled Vehicle Platooning via State Estimation in a Communication Network," SAE Technical Paper 2001-01-0801, 2001, https://doi.org/10.4271/2001-01-0801.Also In
Intelligent Vehicle Initiative (Ivi) Technology and Navigation Systems
Number: SP-1593; Published: 2001-03-05
Number: SP-1593; Published: 2001-03-05
SAE 2001 Transactions Journal of Passenger Cars - Electronic and Electrical Systems
Number: V110-7; Published: 2002-09-15
Number: V110-7; Published: 2002-09-15
References
- Anderson B. D. O. Moore J. B. Optimal Filtering Englewood Cliffs, NJ Prentice-Hall 1979
- Berger T. Rate Distortion Theory Englewood Cliffs, NJ Prentice Hall 1971
- Wong W. S. Brockett R. W. “Systems with Finite Communication Bandwidth Constraints-Part I: State Estimation Problems,” IEEE Transactions on Automatic Control 42 9 September 1997 1294 1299
- Dokuchaev N. G. Savkin A. V. “Recursive State Estimation via Limited Capacity Communication Channels,” Proceedings of the 38th Conference on Decision and Control December 1999 4929 4932
- Sheikholeslam S. Desoer C. A. Longitudinal Control of a Platoon of Vehicles; III: Nonlinear Model PATH Research Report, UCB-ITS-PRR-90-1 April 1990
- Streisand S. L. Walrand J. A Communication Architecture for IVHS PATH Research Report, UCB-ITS-PRR-92-10 December 1992
- Ioannou P. A. Chien C. C. “Autonomous Intelligent Cruise Control,” IEEE Transactions on Vehicular Technology 42 4 November 1993 657 672