Connected Vehicle Platooning: Stability Analysis on an Experimental Vehicle Platform

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Journal Title
Journal ISSN
Volume Title
Sähkötekniikan korkeakoulu | Master's thesis
Date
2023-05-15
Department
Major/Subject
Autonomous Systems
Mcode
ELEC3055
Degree programme
Master's Programme in ICT Innovation
Language
en
Pages
58+7
Series
Abstract
Rapid development of driving assistance technology and vehicular communication for intelligent transportation systems has proved that it can improve the safety, efficiency and sustainability of vehicles. This thesis endeavours to develop an experimental platform to demonstrate the use of cooperative adaptive cruise control (CACC) systems. The work analyzes existing longitudinal controllers and their string stability in homogeneous platoons. Furthermore field tests are carried out using the longitudinal controller with multiple autonomous experimental vehicle platforms to verify the effectiveness of the controller. According to the results of simulation and field tests, the proposed CACC platooning approach shows great benefits for longitudinal vehicle platooning.
Description
Supervisor
Charalambous, Themistoklis
Thesis advisor
Höglund, Thomas
Keywords
cooperative adaptive cruise control, vehicle platoon, multiple-predecessor following topology, communication delays, robot operating system
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