Remote-controlled platoon merging via coder-estimator sequence algorithm for a communication network
Jae Weon Choi
Tae Hyun Fang
Kwong, S.
Young Ho Kim
Sch. of Mech. Eng., Pusan Nat. Univ., South Korea;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Feb 2003
Volume: 50,
Issue: 1
On page(s): 30- 36
ISSN: 0278-0046
INSPEC Accession Number: 7517974
Digital Object Identifier: 10.1109/TIE.2002.807686
Current Version Published: 2003-01-29
Abstract
In this paper, a platoon-merging control system is considered as a remotely located system with a state represented by a stochastic process. In this system, it is common to encounter situations where a single decision maker controls a large number of subsystems, and observation and control signals are sent over a communication channel with finite capacity and significant transmission delays. Unlike a classical estimation problem where the observation is a continuous process corrupted by additive noise, there is a constraint that the observation must be coded and transmitted over a digital communication channel with finite capacity. A recursive coder-estimator sequence is a state estimation scheme based on observations transmitted with finite communication capacity constraint. In this paper, we introduce a stochastic model for the lead vehicle in a platoon of vehicles in a lane considering the angle between the road surface and a horizontal plane as a stochastic process. In order to merge two platoons, the lead vehicle of the following platoon is controlled by a remote control station. Using the coder-estimator sequence, the remote control station designs the feedback controller. The simulation results show that the inter-vehicle distance and the deviation from the desired inter-vehicle distance are well regulated.
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