A Reachability Approach to Disturbance and Safety Propagation in Mixed Platoons

• 成果类型: Article
• 署名作者: Liu, Di; Besselink, Bart; Baldi, Simone; Yu, Wenwu; Trentelman, Harry L.
• 署名单位: Southeast University - China; University of Groningen; Technical University of Munich; Southeast University - China
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3318201
• 发表日期: 2024
• 页码: 3206-3213
• 关键词: Automated vehicles; disturbance propagation; mixed platoons; reachable set; safety

摘要

This work proposes a reachability approach to characterize how disturbances and safety propagate in a mixed platoon, i.e., a platoon with human-driven vehicles followed by a single automated vehicle. We look at the behavior of the leading vehicle as a unit-energy disturbance and study how this energy propagates along the states and the outputs of the system. To describe the propagation, we make use of ellipsoidal sets, and give conditions based on linear matrix inequalities to describe inclusion relations of these ellipsoidal sets. This analysis is extended to a synthesis tool, with the purpose of designing a control strategy for the automated vehicle that shapes the propagation of energy along the platoon in a desired way.