NDLI: Improved Protocols and Stability Analysis for Multivehicle Cooperative Autonomous Systems

Content Provider	IEEE Xplore Digital Library
Author	Yonggui Liu Bugong Xu
Copyright Year	2000
Abstract	With increasing growth of vehicles, traffic congestion and safety deserve to be looked at more closely. Cooperative autonomous driving is an effective solution to reduce traffic congestion and ensure traffic safety. In this paper, cooperative autonomous control of multiple vehicles is considered to realize sharing the same roads without collusion with each other. Lane-following and braking control are two basic operations of cooperative driving. The objectives of lane-following are to make inter vehicles keep a safe spacing and run on the middle position of a lane. To reach the targets, two distributed control protocols are proposed in which we consider not only lateral control but also longitudinal control. The stability analysis is also shown for both the control protocols. Braking control is another basic operation for autonomous cooperative control. In order to make vehicles stop at the desired target stopping position (TSP), a new braking control protocol is also designed, and the convergence of which is analyzed and shown that, under three kinds of distinct braking control parameters, the position of the mass center of all vehicles exponentially converges to the TSP, and the velocity of the mass center of all vehicles exponentially converges to zero, which provide a guide for selecting the braking control parameters in real engineering applications. Moreover, the initial and limit conditions of position and velocity are discussed. Simulations demonstrate the validity and superiority of the proposed control protocols compared with existing approaches.
Sponsorship	IEEE Intelligent Transportation Systems Society
Starting Page	2700
Ending Page	2710
Page Count	11
File Size	980896
File Format	PDF
ISSN	15249050
Volume Number	16
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Protocols Force Stability analysis Decentralized control Navigation Safety distributed control protocol Cooperative control autonomous control stability analysis multiple vehicle systems
Content Type	Text
Resource Type	Article
Subject	Automotive Engineering Mechanical Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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