Remote-Controlled Vehicle Platooning via State Estimation in a Communication Network 2001-01-0801
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.
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. Download Citation
Author(s):
Jae Weon Choi, Tae Hyun Fang, Young Ho Kim
Affiliated:
Pusan National University
Pages: 9
Event:
SAE 2001 World Congress
ISSN:
0148-7191
e-ISSN:
2688-3627
Also in:
Intelligent Vehicle Initiative (Ivi) Technology and Navigation Systems-SP-1593, SAE 2001 Transactions Journal of Passenger Cars - Electronic and Electrical Systems-V110-7
Related Topics:
Platooning
Control systems
Transmissions
Simulation and modeling
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