Distributed Robust Control of Vehicle Platoon for Strict Collision Avoidance

被引：0
|
作者：
Yang Z. [1 ]
Huang J. [1 ]
Hu Z. [1 ]
Xie G. [1 ]
Zhong Z. [1 ,2 ]
机构：
[1] School of Vehicle and Mobility, Tsinghua University, Beijing
[2] Chinese Academy of Engineering, Beijing
来源：
Qiche Gongcheng/Automotive Engineering | 2020年 / 42卷 / 10期
关键词：
Nonlinear robust control; Platoon stability; Strict collision-avoidance; Vehicle platoon;
D O I：
10.19562/j.chinasae.qcgc.2020.10.003
中图分类号：
学科分类号：
摘要：
Aiming at the control problem of a platoon of connected intelligent vehicles, adesign method of strict collision-avoidance distributed robust controller is proposed in this paper. Firstly, a nonlinear error dynamic model containing complex uncertainties and external disturbances is established, the collision-avoidance abilityandcompactness of platoon are ensured by fluctuation interval limiting vehicle spacing error, and accordingly a vehicle spacing potential function is introduced. Then based on spacing potential function, the states of egovehicle and neighboring vehicles and dynamically uncertain boundaries, a distributed robust control law is designed, and it is theoretically proved that the controller can ensure the collision-avoidance ability,compactness and stability in speed errorof platoon, with the effects of communication topology and control parameters on control performance analyzed. By correcting the desired vehicle spacing model, the application scope of the controller can be extended to the condition with large initial error. Finally, a numerical simulation is performed to verify the results of main theoretical analysis. © 2020, Society of Automotive Engineers of China. All right reserved.
引用
收藏
页码：1312 / 1319
页数：7
相关论文
共 16 条
  • [1] LIORIS J, PEDARSANI R, TASCIKARAOGLU F Y, Et al., Platoons of connected vehicles can double throughput in urban roads, Transportation Research Part C, 77, pp. 292-305, (2017)
  • [2] TURRI V, BESSELINK B, JOHANSSON K H., Cooperative look- ahead control for fuel-efficient and safe heavy-duty vehicle platooning, IEEE Transactions on Control Systems Technology, 25, 1, pp. 12-28, (2017)
  • [3] BIAN Y, ZHENG Y, REN W, Et al., Reducing time headway for platooning of connected vehicles via V2V communication, Transportation Research Part C, 102, pp. 87-105, (2019)
  • [4] QIN X, WANG J, XIE B, Et al., Distributed control of heterogeneous vehicular platoons, Automotive Engineering, 39, 1, pp. 73-78, (2017)
  • [5] ZHENG Y, LI S E, LI K, Et al., Distributed model predictive control for heterogeneous vehicle platoons under unidirectional topologies, IEEE Transactions on Control Systems Technology, 25, 3, pp. 899-910, (2017)
  • [6] FENG S, ZHANG Y, LI S E, Et al., String stability for vehicular platoon control: definitions and analysis methods, Annual Reviews in Control, 47, pp. 81-97, (2019)
  • [7] SWAROOP D, HEDRICK J K., String stability of interconnected systems [J], IEEE Transactions on Automatic Control, 41, 3, pp. 349-357, (1996)
  • [8] ZHOU Y, AHN S., Robust local and string stability for a decentralized car following control strategy for connected automated vehicles [J], Transportation Research Part B, 125, pp. 175-196, (2019)
  • [9] XU L, ZHUANG W, Yin G, Et al., Energy-oriented cruising strategy design of vehicle platoon considering communication delay and disturbance, Transportation Research Part C, 107, pp. 34-53, (2019)
  • [10] CANUDAS de WIT C, BROGLIATO B., Stability issues for vehicle platooning in automated highway systems, IEEE International Conference on Control Applications, pp. 1377-1382, (1999)
12