Intelligent vehicle platoon lateral and longitudinal control based on finite-time sliding mode control

A distributed control method is proposed based on finite-time sliding mode control for lateral and longitudinal control of platoon and fast convergence of errors. First, considering the chain reaction of tracking errors and coupling effects of vehicle lateral and longitudinal movement, lateral and longitudinal error model of platoon is established based on projection transformation, and the control framework of platoon is put forward. Then, aiming at the fast convergence of errors, nonsingular integral terminal sliding mode surface and adaptive integral power reaching law are designed. Finitetime stability and string stability of the system are analyzed by constructing Lyapunov function. Finally, Trucksim/Simulink joint simulation and real vehicle experiments further verify the effectiveness of the method in this research. The results show that the proposed method can guarantee the string stability, realize the rapid convergence of errors, and avoid the tracking error chain reaction and influence of lateral movement on longitudinal spacing error. © 2021, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.