Safe longitudinal platoons of vehicles without communication

This paper deals with the platooning problem that can be defined as the automatic following of a manned driven vehicle by a convoy of automatic ones. Different approaches have been proposed so far. Some require the localisation of each vehicle and a communication infrastructure, others called near-t...

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Bibliographic Details
Published in2009 IEEE International Conference on Robotics and Automation pp. 70 - 75
Main Authors Scheuer, A., Simonin, O., Charpillet, F.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2009
Subjects
Acceleration
Automatic control
Collision avoidance
Mobile robots
Remotely operated vehicles
Stability
Three-term control
Transportation
Vehicle driving
Vehicle safety
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ISBN1424427886
9781424427888
ISSN1050-4729
DOI10.1109/ROBOT.2009.5152629

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Summary:This paper deals with the platooning problem that can be defined as the automatic following of a manned driven vehicle by a convoy of automatic ones. Different approaches have been proposed so far. Some require the localisation of each vehicle and a communication infrastructure, others called near-to-near approach only needs vehicle on-board sensors. However, to our knowledge, they do not provide any proof of non collision. We propose a novel near-to-near longitudinal platooning building a collision-free platooning whatever the number of vehicles. The model is derived from the study of the most dangerous interaction between two vehicles, i.e. considering the maximum acceptable acceleration when the previous vehicles brakes at maximum capacity. Collision avoidance of this model is proved. Finally, we show that this model can be combined to existing ones, keeping this collision-free property while allowing more various behaviors.
ISBN:1424427886
9781424427888
ISSN:1050-4729
DOI:10.1109/ROBOT.2009.5152629