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dc.contributor.author
Stroppa, Luca
dc.contributor.supervisor
Lygeros, John
dc.contributor.supervisor
Cherukuri, Ashish
dc.date.accessioned
2018-07-05T05:27:07Z
dc.date.available
2018-06-27T09:44:54Z
dc.date.available
2018-07-05T05:27:07Z
dc.date.issued
2018-06-13
dc.identifier.uri
http://hdl.handle.net/20.500.11850/272615
dc.identifier.doi
10.3929/ethz-b-000272615
dc.description.abstract
In this thesis, we study the interaction of a single vehicle with a platoon. More specifically, we consider the case in which the gap between two vehicles in the platoon has to be expanded and then reduced. This facilitates a single vehicle to change lanes, enter into the expanded gap, and leave after a while. As a first step, we review the literature of platoon formation, tracking of a reference velocity as well as of a spacing policy. Secondly, we formulate the problem by defining a list of specifications that our controller will have to satisfy in order to safely expand and reduce the gap within the platoon. Then, we present some of the spacing policies we encountered in the literature review in more detail and compare their corresponding controllers. Lastly, we design our longitudinal controller by combining two of the previously presented control laws and show by means of simulations that the gap expansion and reduction successfully takes place while meeting all the other specifications. We conclude the thesis by summarizing our results and by giving an insight into possible future directions.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
ETH Zurich
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.title
Traffic Interaction with Platoon (TRIP): safe gap expansion and reduction between vehicles in a platoon
en_US
dc.type
Master Thesis
dc.rights.license
In Copyright - Non-Commercial Use Permitted
dc.date.published
2018-07-05
ethz.size
36 p.
en_US
ethz.publication.place
Zurich
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02140 - Dep. Inf.technologie und Elektrotechnik / Dep. of Inform.Technol. Electrical Eng.::02650 - Institut für Automatik / Automatic Control Laboratory::03751 - Lygeros, John / Lygeros, John
en_US
ethz.date.deposited
2018-06-27T09:44:55Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2018-07-05T05:27:20Z
ethz.rosetta.lastUpdated
2020-02-15T13:50:35Z
ethz.rosetta.versionExported
true
ethz.COinS
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