제어로봇시스템학회:학술대회논문집
- 2000.10a
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- Pages.192-192
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- 2000
Vehicle Platooning Remote Control via State Estimation in a Communication Network
통신 네트워크에서 상태 추정에 의한 군집병합의 원격제어
Abstract
In this paper, a platoon merging is considered as a remote-controlled system with the state represented by a stochastic process. In this system, it becomes to encounter situations where a single decision maker controls a large number of subsystems, and observation and control signals are sent over a communication channel with finite capacity and significant transmission delays. Unlike classical estimation problem in which the observation is a continuous process corrupted by additive noise, there is a constraint that the observation must be coded and transmitted over a digital communication channel with finite capaci쇼. A recursive coder-estimator sequence is a state estimation scheme based on observations transmitted with finite communication capacity constraint. Using the coder-estimator sequence, the remote control station designs a feedback controller. In this paper, we introduce a stochastic model for the lead vehicle in a platoon of vehicles considering the angle between a road surface and a horizontal plane as a stochastic process. The simulation results show that the inter-vehicle distance and the deviation from the desired inter-vehicle distance are well regulated.
Keywords