Contract based Design of Symbolic Controllers for Vehicle Platooning

Adnane Saoud (1, 2) , Antoine Girard (2) , Laurent Fribourg (1)

1 LSV - Laboratoire Spécification et Vérification [Cachan]
2 L2S - Laboratoire des signaux et systèmes

In this work, we present an application of symbolic control and contract based design techniques to vehicle platooning. We use a compositional approach based on continuous-time assume-guarantee contracts. Each vehicle in the platoon is assigned an assume-guarantee contract; and a controller is synthesized using symbolic control to enforce the satisfaction of this contract. The assume-guarantee framework makes it possible to deal with different types of vehicles and asynchronous controllers (i.e controllers with different sampling periods). Numerical results illustrate the effectiveness of the approach.

Domaines: Sciences de l'ingénieur [physics]; Automatique / Robotique

Adnane Saoud, Antoine Girard, Laurent Fribourg. Contract based Design of Symbolic Controllers for Vehicle Platooning. 21st International Conference on Hybrid Systems: Computation and Control (part of CPS Week), Apr 2018, Porto, Portugal. pp.277-278, ⟨10.1145/3178126.3187001⟩. ⟨hal-02287002⟩