Authors: Iakovos Papadimitriou, Masayoshi Tomizuka
Addresses: Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA 94720, USA. ' Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA 94720, USA
Abstract: Automated driving of vehicles on highways may be accomplished by dividing the control problem in the longitudinal and lateral direction. In this paper, the problem of lateral control of vehicles operating in a platoon without the use of road infrastructure, that is, autonomous following, is considered. Firstly, the limitations of autonomous following without inter-vehicle communication are uncovered. Specifically, the influence of rear end off-tracking and look-ahead distance on the accuracy of lane following is illustrated. Next, the notion of string stability for a platoon is introduced. It is shown that the interconnected platoon without inter-vehicle communication theoretically can be string stable at the expense of poor performance. Finally, it is shown that, under certain circumstances, the addition of inter-vehicle communication eliminates the interconnection with the rest of the vehicles in the platoon, resulting in accurate lane following. The analytical results are verified by simulations and experiments.
Keywords: autonomous following; automated highway systems; inter-vehicle communication; string stability; driving automation; vehicle control; lateral control; automated control; accurate lane following; simulation.
International Journal of Vehicle Design, 2004 Vol.36 No.1, pp.24 - 37
Available online: 21 Sep 2004 *Full-text access for editors Access for subscribers Purchase this article Comment on this article