Modelling and Control of a Train of Autonomous Electric Vehicles

Kamel Bouibed , Abdel Aitouche (1) , Mireille Bayart (1)

1 STF - Systèmes Tolérants aux Fautes

While driving, the position and velocity of the vehicles in front of one greatly influence the way he/she drives the car. The purpose of this paper is to design a stable train of vehicles using longitudinal control, with a constant spacing between each vehicle. The method proposed here makes use of relative spacing and velocities between the vehicles to determine any changes (if any) that are required in the condition of the following vehicle to ensure a safe and comfortable journey. We will use a second order sliding mode control to maintain the platoon stable and the inter-vehicular spacing to the safe distance. Simulation results will be given to show the effectiveness of the method.

Domaines: Automatique / Robotique

Kamel Bouibed, Abdel Aitouche, Mireille Bayart. Modelling and Control of a Train of Autonomous Electric Vehicles. Springer, pp.1296, 2010, Lecture Notes in Computer Science, Ming Xie, Youlun Xiong, Caihua Xiong, Honghai Liu, Zhencheng Hu, 978-3-642-10816-7. ⟨hal-00804032⟩