Abstract
Collaborative vehicle platoon control with full drive-by-wire vehicles with four-wheel independent driving and steering (FWIDSV) has attracted broader research interests. However, the problem of cooperative vehicle platoon control in two-dimensional driving scenes remains to be solved. This paper proposes a coupling control method for path tracking and spacing-maintaining based on the reference vector field (RVF). An integrated hierarchical control structure, including the following control layer, tire force allocator layer, and an actuator controlling layer for FWIDSV is presented. Inside, the next control layer was designed according to the spacing control strategy and RVF within the limitation of the friction circle. For verifying the effectiveness of this control method, sufficient conditions for error convergence are analyzed when considering the influence of the critical parameters on the particle dynamics model. The tire force allocator layer is designed based on linear quadratic programming (LQP), which is used to distribute the total forces and yaw moment. The sliding mode control (SMC) is employed to track the desired tire forces in the actuator controlling layer. The proposed control methods are validated through simulation in intelligent cruise control (ICC) and platoon merging scenarios. The results demonstrate an effective FWIDSV platoon control approach that is based on the RVF in the 2-D driving scenes.
Highlights
IntroductionWith the development of intelligent connected technology and vehicle automation technology, intelligent vehicle and multi-vehicle collaborative control have attracted considerable research interests
With the development of intelligent connected technology and vehicle automation technology, intelligent vehicle and multi-vehicle collaborative control have attracted considerable research interests.Vehicle platoon enables multiple vehicles to drive in a formation by automatically adjusting the spacing between the cars
The reference vector field can be constructed according to the leading vehicle, the balanced point, the reference trajectory, and the geometric relationship for the following vehicle, so that it can ensure the maintenance of a reasonable distance from the leading vehicle by following the trajectory
Summary
With the development of intelligent connected technology and vehicle automation technology, intelligent vehicle and multi-vehicle collaborative control have attracted considerable research interests. When compared with other controllers, like MPC and PID controller, RVF could be considered as an optimal solution when following a leading vehicle, so it is much faster and easier to get the optimal solution It is more suitable for the FWIDSV, which can decouple the total force and control the tires independently. The reference vector field can be constructed according to the leading vehicle, the balanced point, the reference trajectory, and the geometric relationship for the following vehicle, so that it can ensure the maintenance of a reasonable distance from the leading vehicle by following the trajectory It might improve the automation of platoon control by coupling lateral and longitudinal motion.
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