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Remote-Controlled Vehicle Platooning via State Estimation in a Communication Network
Technical Paper
2001-01-0801
ISSN: 0148-7191, e-ISSN: 2688-3627
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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.
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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
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