A Global Control Strategy for Urban Vehicles Platooning.pdfVIP

A Global Control Strategy for Urban Vehicles Platooning relying on Nonlinear Decoupling Laws J. Bom, B. Thuilot, F. Marmoiton and P. Martinet LASMEA - 24 avenue des Landais - 63177 AUBIERE - FRANCE bom@lasmea.univ-bpclermont.fr Abstract— To solve problems of traffic saturation in cities, new throttle and brake actuators. Unluckily, all these solutions alternative ”Urban Transportation Systems” are based on electric have drawbacks: respectively the cost and the necessity to vehicles in free-access. One necessary functionality of such equip an area, and/or, a too small field of perception for the systems is their ability to move in a platoon fashion. Platooning of these automatic guided vehicles, relying on RTK-GPS sensors considered sensor. To overcome such problems, an interesting and inter-vehicles communication, is addressed in this paper. solution is the use of RTK GPS (Real Time Kinematic Global The developed control law is based on a global control strategy; Positioning System) sensors, which can provide in realtime actually, it can take into account all the platoon state, and not only vehicle localization with a centimeter accuracy. These sen- the immediate previous vehicle state. Distance here is understood sors, coupled with an inter-vehicles communication, permit as difference of curvilinear abscissa along a reference trajectory. to share absolute localization measurements. Some results of Relying on nonlinear control theory, lateral and longitudinal con- trol are fully decoupled, and therefore addressed