Enhanced flatbed tow truck model for stable and safe platooning in the presences of lags, communication and sensing delays

@article{Ali2015EnhancedFT,
  title={Enhanced flatbed tow truck model for stable and safe platooning in the presences of lags, communication and sensing delays},
  author={Alan Ali and Ga{\"e}tan Garcia and Philippe Martinet},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2015},
  pages={1648-1653}
}
Many ideas have been proposed to reduce traffic congestion. Driving a platoon of vehicles with constant spacing seems to be a promising idea as it increases traffic density. But keeping constant inter-vehicle spacing requires very reliable communication. Another control policy is to drive the platoon with a time headway between vehicles. It is a robust and well known policy but large inter-vehicle distances in addition to weak stability (unity error gain) near low frequencies make it less… CONTINUE READING

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Urban platooning using a flatbed tow truck model

  • 2015 IEEE Intelligent Vehicles Symposium (IV)
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