1. Proceedings
  2. I3M
  3. 2020
  4. MAS
  5. 10.46354/i3m.2020.mas.011

Longitudinal and lateral control using global decentralized strategy with a comparison of different approaches for autonomous vehicles convoy

  • a M-M.Mohamed-Ahmed , 
  • b Aziz Naamane  
  • a,b Aix Marseille University, Université de Toulon, CNRS, LIS, Marseille, France
Cite as
Mohamed-Ahmed M-M., Naamane A. (2020). Longitudinal and lateral control using global decentralized strategy with a comparison of different approaches for autonomous vehicles convoy. Proceedings of the 19th International Conference on Modeling & Applied Simulation (MAS 2020), pp. 83-92. DOI: https://doi.org/10.46354/i3m.2020.mas.011

Abstract

In this paper, a longitudinal and lateral control approach is proposed for a convoy of multi vehicles. A global decentralized architecture based on the information from neighbors and the leader vehicle is used, to ensure stability and safety between neighbors. Lateral control based on the longitudinal speed of the i-th vehicle and the characteristic of the reference trajectory of the leader to cancel the lateral deviation of the convoy from this trajectory and also allows coupled longitudinal and lateral motion control. The robustness of the linearization control by inverse dynamics (for longitudinal movement) and the sliding mode control (for lateral movement), concerning the parameters of the dynamic model, will be studied in this paper. To compare different control approaches for the convoy, we add sensor errors between vehicles, to study the accumulation of the errors towards the other cars of the convoy. To validate these approaches, we use the platform of SCANeRTM-Studio to control a convoy of 10 vehicles.

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