Collision avoidance in platooning

For more info about our services contact : help@bestpfe.com

Table of contents

1 Introduction 
1.1 General Introduction
1.2 Methodology
1.3 Contribution
1.4 Structure of thesis
2 State of the Art 
2.1 Collision avoidance between vehicles
2.1.1 Platooning
2.1.2 Collision avoidance in platooning
2.1.3 Vehicle Following Models
2.1.4 Coordinated CAV applications
2.1.5 Centralized vs decentralized controller
2.2 Types of errors
2.2.1 Communication error
2.2.2 Localization error
2.2.3 Control error
2.2.4 Model mismatch
2.2.5 Perception response time
2.2.6 Achievable braking capacity
2.3 Problem formulation
3 Analysis of Centralized Controller Operation 
3.1 Centralized Controller Operation
3.1.1 Obstacle detection and gathering vehicle information
3.1.2 Model predictive control basic principle
3.1.3 Mathematical formulation of the MPC Controller
3.2 Modeling Errors inuencing the centralized controller
3.2.1 Model Mismatch
3.2.2 Control Error
3.2.3 Localization Error
3.2.4 Communication Error
4 Robust Centralized Controller 
4.1 Centralized controller conguration
4.1.1 Simulation parameters
4.2 Buer
4.3 Robustness to Model Mismatch
4.3.1 Interface with Driving simulator
4.4 Impact of Control errors
4.5 Robustness to Communication error
4.5.1 Evaluation set 1
4.5.2 Evaluation set 2
4.6 Robustness to Localization error
4.6.1 Controller model robust to localization error
4.6.2 Evaluation of the robust controller
4.6.3 Warning for enhanced safety
4.7 Robustness of the controller to various errors
4.7.1 Communication Overhead
4.8 Parameter Sensitivity
5 Conclusions and Perspectives
5.1 Conclusions
5.2 Perspectives
A List of Publications and Contributions