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On a fully self-organising vehicle platooning supported by cloud computing

Montanaro, Umberto, Fallah, Saber, Dianati, Mehrdad, Oxtoby, David, Mizutani, Tom and Mouzakitis, Alexandros (2018) On a fully self-organising vehicle platooning supported by cloud computing In: The 21st IEEE International Conference on Intelligent Transportation Systems, 04-07 Nov 2018, Maui, Hawaii, USA.

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Abstract

Vehicle platooning is a promising cooperative driving vision to mitigate issues in road transportation and it leverages on the use of distributed control systems to precisely control each vehicle in the fleet. This paper investigates a fully adaptive platoon control solution made possible by the advent of more reliable communication channels and off-board cloud computing systems. The components of the platoon control system, i.e., the platoon network topology and the distributed controllers, adapt based on the relative motion of the vehicles in the fleet, thus allowing the platoon to self-organise the interactions among the platoon members and the control gains to create and maintain the cooperative platoon motion. Furthermore, the adaptive mechanism to adjust the control gains is equipped with a σ-modification strategy to keep the control gains bounded in any working condition. Numerical results show the effectiveness of control method to make a heterogeneous platoon a self-organising network of intelligent vehicles, while also reducing the number of the communication links required to establish the cooperative motion.

Item Type: Conference or Workshop Item (Conference Paper)
Divisions : Faculty of Engineering and Physical Sciences > Mechanical Engineering Sciences
Authors :
NameEmailORCID
Montanaro, Umbertou.montanaro@surrey.ac.uk
Fallah, Sabers.fallah@surrey.ac.uk
Dianati, MehrdadM.Dianati@surrey.ac.uk
Oxtoby, David
Mizutani, Tom
Mouzakitis, Alexandros
Date : 4 November 2018
Funders : Engineering and Physical Sciences Research Council (EPSRC)
DOI : 10.1109/IoTSMS.2018.8554517
Grant Title : Towards Autonomy: Smart and Connected Control (TASCC) Programme
Copyright Disclaimer : © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works
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Additional Information : USB ISBN: 978-1-5386-9584-5 Print on Demand(PoD) ISBN: 978-1-5386-9586-9
Depositing User : Clive Harris
Date Deposited : 13 Sep 2018 14:27
Last Modified : 08 May 2019 10:58
URI: http://epubs.surrey.ac.uk/id/eprint/849285

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