Abstract
The current platoon control strategies of connected autonomous vehicles (CAVs) focus on controlling the fixed intervehicle distance, i.e., the string stability of the platoon system. Here, we aimed to design a CAV platoon control strategy based on a constraint-following approach to solve the problem of platoon starting. As the resistance of the vehicle during driving varies with time, this study regarded the CAV platoon system as a changing dynamic system and introduced the Udwadia–Kalaba (U–K) approach to simplify the solution. Apart from adding an equality constraint, unlike most other studies, this study imposed a bilateral inequality constraint on the intervehicle distance between successive CAVs to prevent collisions. Meanwhile, a diffeomorphism method was introduced to transform the bounded state into an unbounded state. The proposed control strategy could render each CAV compliant with both the original imposed bilateral inequality constraint and the equality constraint. The former avoids collisions, and the latter indicates the string stability of the designed CAV platoon system. The effectiveness of the proposed controller was verified by numerical experiments. The gap errors tend to converge to zero, which is not amplified by the propagation of traffic flow.
Highlights
With the increasing growth of the automobile industry, urban transportation networks are experiencing significant issues in a variety of areas
Autonomous vehicles are designed to free drivers from driving tasks and are expected to improve traffic safety and efficiency when connected through vehicle-to-vehicle (V2V) communication, i.e., connected autonomous vehicles (CAVs). ey have great potential for dealing with traffic problems [2, 3]
We proved that the proposed control force could render uniform boundedness (UB) and uniform ultimate boundedness (UUB) performance for the unbounded state. e main difference between this study and other works is that the complicated platoon control problem was treated as a constraint-following problem, and the U–K approach was used to simplify the solution of this specific problem
Summary
With the increasing growth of the automobile industry, urban transportation networks are experiencing significant issues in a variety of areas. Compared to individual autonomous vehicles, CAVs in a platoon have greater potential to improve traffic performance because they can share information and coordinate their behavior to ensure shorter intervehicle distances safely [4, 17,18,19], as illustrated in the field tests [20, 21]. Our purpose was to design a CAV platoon control strategy, apply it to the platoon starting, and ensure the string stability of the CAV platoon under the premise of sufficient safety To this end, we, firstly, formulated a nonlinear longitudinal dynamic model for each vehicle, considering the possible time-varying uncertainties, and we obtained a multivehicle dynamic system.
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