Combined Longitudinal and Lateral Control Design for String Stable Vehicle Platooning within a Designated Lane

We propose a combined longitudinal and lateral control approach for vehicle platooning within a designated lane. We combine linear frequency and time domain methods, to design longitudinal control that ensures string stability while enforcing safety, comfort and actuator limitations. In addition, we design lateral control that accounts for speed variations induced by the longitudinal control as well as safety, comfort and actuator limitations using convex optimization methods.

Author(s)
Roozbeh Kianfar, Mohammad Ali, Paolo Falcone, Jonas Fredriksson
Publication type
Published in
Proceedings of the 17th International IEEE Conference on Intelligent Transportation Systems, October 2014, Qingdao
Project
AdaptIVe - Automated Driving Applications and Technologies for Intelligent Vehicles
Year of publication
2014

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