Worst-Case Performance Analysis in \(\ell _1\)-norm for an Automated Heavy Vehicle Platoon

  • Gábor Rödönyi
  • Péter Gáspár
  • József Bokor
  • László Palkovics
Chapter
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 283)

Abstract

Based on model set identification and unfalsification, robust performance measured in peak-to-peak gain is analyzed for heterogeneous platoons, inter-vehicle communication delays and actuator uncertainties. The goal is to demonstrate that safe platooning with acceptable performance can be achieved by utilizing the services already available on every commercial heavy truck with automated gearbox. Experimental verification of a three vehicle platoon is also presented.

Keywords

Vehicle platoons Peak-to-peak gain Performance unfalsification 

Notes

Acknowledgments

The research has been supported by the Hungarian National Office for Research and Technology through the project ‘Innovation of distributed driver assistance systems for a commercial vehicles platform’ (TECH_08_A2 /2-2008-0088). This research work has been supported also by Control Engineering Research Group, Hungarian Academy of Sciences at the Budapest University of Technology and Economics.

References

  1. 1.
    Gerdes, J.C., Hedrick, J.: Vehicle speed and spacing control via coordinated throttle and brake actuation. Control Eng. Pract. 5, 1607–1614 (1997)CrossRefGoogle Scholar
  2. 2.
    Gustafsson, T.K., Mäkilä, P.M.: Modelling of uncertain systems via linear programming. Automatica 32(3), 319–335 (1996)CrossRefMATHMathSciNetGoogle Scholar
  3. 3.
    Kvasnica, M., Grieder, P., and Baotić, M. (2004). Multi-Parametric Toolbox (MPT)Google Scholar
  4. 4.
    Liang, H., Chong, K.T., No, T.S., Yi, S.: Vehicle longitudinal brake control using variable parameter sliding control. Control Eng. Pract. 11, 403–411 (2003)CrossRefGoogle Scholar
  5. 5.
    Milanese, M.: Properties of least squares estimates in set membership identification. Automatica 31(2), 327–332 (1995)CrossRefMATHMathSciNetGoogle Scholar
  6. 6.
    Milanese, M., Belforte, G.: Estimation theory and uncertainly intervals evaluation in presence of unknown but bounded errors: Linear families of models and estimators. IEEE Trans. Autom. Control AC-27(2), 408–414 (1982)Google Scholar
  7. 7.
    Nagamune, R., Yamamoto, S.: Model set validation and update for time-varying siso systems. In: Proceedings of the American Control Conference, pp. 2361–2365. Philadelphia (1998)Google Scholar
  8. 8.
    Nagamune, R., Yamamoto, S., Kimura, H.: Identification of the smallest unfalsified model set with both parametric and unstructured uncertainty. In: Preprints of the 11th IFAC Symposium on System Identification (SYSID97), vol. 1, pp. 75–80. Kitakyushu, Japan (1997)Google Scholar
  9. 9.
    Nouveliere, L., Mammar, S.: Experimental vehicle longitudinal control using a second order sliding mode technique. Control Eng. Pract. 15, 943–954 (2007)Google Scholar
  10. 10.
    Rödönyi, G., Gáspár, P., Bokor, J., Aradi, S., Hankovszki, Z., Kovács, R., Palkovics, L.: Analysis and experimental verification of faulty network modes in an autonomous vehicle string. In: 20th Mediterranean Conference on Control and Automation, pp. 747–752. Barcelona, Spain (2012)Google Scholar
  11. 11.
    Rödönyi, G., Gáspár, P., Bokor, J., Palkovics, J.: Design and analysis of an automated heavy vehicle platoon. In: 9th International Conference on Informatics in Control, ICINCO, pp. 31–37 (2012)Google Scholar
  12. 12.
    Rödönyi, G., Gáspár, P., Bokor, J.: Unfalsified uncertainty modeling for computing tight bounds on peak spacing errors in vehicle platoons, Submitted to ACC (2013)Google Scholar
  13. 13.
    Soumelidis, A., Schipp, F., Bokor, J.: Pole structure estimation from laguerre representations using hyperbolic metrics on the unit disc. In: 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), Orlando, FL, USA (2011)Google Scholar
  14. 14.
    Swaroop, D.: String stability of interconnected systems: an application to platooning in automated highway systems. PhD dissertation (1994)Google Scholar

Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Gábor Rödönyi
    • 1
  • Péter Gáspár
    • 1
  • József Bokor
    • 1
  • László Palkovics
    • 2
  1. 1.Systems and Control LaboratoryComputer and Automation Research Institute of Hungarian Academy of SciencesBudapestHungary
  2. 2.Knorr-Bremse Brake-systems Gmbh.BudapestHungary

Personalised recommendations