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Design and Experimental Validation of a Distributed Interaction Protocol for Connected Autonomous Vehicles at a Road Intersection
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- Vaio, Marco Di (författare)
- Universita Degli Studi Di Napoli Federico Ii,University of Naples Federico II
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- Falcone, Paolo, 1977 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Hult, Robert, 1984 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Petrillo, Alberto (författare)
- Universita Degli Studi Di Napoli Federico Ii,University of Naples Federico II
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- Salvi, A. (författare)
- Universita Degli Studi Di Napoli Federico Ii,University of Naples Federico II
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- Santini, S. (författare)
- Universita Degli Studi Di Napoli Federico Ii,University of Naples Federico II
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(creator_code:org_t)
- 2019
- 2019
- Engelska.
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Ingår i: IEEE Transactions on Vehicular Technology. - 0018-9545 .- 1939-9359. ; 68:10, s. 9451-9465
- Relaterad länk:
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https://doi.org/10.1...
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https://research.cha...
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Abstract
Ämnesord
Stäng
- This paper presents a fully distributed interaction protocol for connected self-driving cars negotiating the access a traffic junction. The vehicles coordination has been reformulated as an equivalent virtual platoon control problem. The desired vehicles spacing within the platoon is chosen so to avoid the side and rear-end collisions and is controlled by a cooperative non-linear control algorithm, based on potential functions. The asymptotic stability of the closed-loop system has been analytically proved by leveraging the LaSalle's Invariance Principle. The analysis of the convergence rate has resulted in an effective tuning tool ensuring that the desired formation is achieved before vehicles reach the intersection. Most notably, results from an in-vehicle experimental validation are presented. The experiments were carried out on three self-driving cars connected through a V2V communication infrastructure based on the IEEE 802.11p protocol. The experimental results confirm the theoretical analysis and reveal the effectiveness of the control approach for autonomously and safely negotiating a generic traffic junction.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Maskinteknik -- Farkostteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Mechanical Engineering -- Vehicle Engineering (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- Autonomous traffic intersection
- multi-agent systems
- intelligent transportation systems
- in-vehicle experimental test
- vehicle-to-vehicle (V2V) communication
- distributed control system
- cooperative autonomous driving
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