Obstacle avoidance control design: An experimental evaluation in vehicle platooning

In this paper, an obstacle avoidance controller (OA) based on the impedance control method is developed. The main goal of the OA controller is to guarantee robust gap making for a merging vehicle within a platoon of vehicles which are longitudinally automated. The proposed OA controller is developed in a simulation environment and later implemented and evaluated on test vehicles. Experimental results show the effectiveness of the proposed method for robust gap making and collision avoidance scenarios.