Coordinated control of heterogeneous vehicle platoon stability and energy-saving control strategies

Abstract

This work presents an overall control strategy for heterogeneous vehicle platoons to minimize energy consumption and improve transportation efficiency by sustaining the string stability of the platoon on signalized arterials under external perturbations. First, the stability criterion is derived by analyzing the string stability of multi-time-lag heterogeneous platoon based on the intelligent driver model (IDM). The optimal model of vehicle platoon consumption is reconstructed to reduce the optimization variables to simplify the solution process. Then, by combining the reconstructed optimal control model with stability, a stable eco-driving model is established for a heterogeneous vehicle platoon consisting of multiple purely electric intelligent connected vehicles (ICVs) and human-driven vehicles (HVs). The overall speed control strategy is proposed by combining the vehicle platoon stability and energy consumption for nonlinear optimization analysis. The platoon is made to pass through the signal intersection with the highest efficiency and the lowest energy consumption to achieve a balance of stability and energy saving. Third, the overall model is optimally solved by a global optimization algorithm, and the numerical simulation has clearly validated the performance of the proposed driving control strategy.