Abstract

A hierarchical control framework is applied for the distributed cooperative vehicular platoon using vehicular ad-hoc networks. The parameter-space-approach-based cooperative adaptive cruise control (CACC) controller is proposed to guarantee the {mathcal{D}}-stability and the string stability considering the influence of the communication time delay and time lag of vehicular dynamic performance. This CACC controller combines the feedforward loop of the acceleration of the preceding vehicle with the feedback loop of the following errors, in which the gain of the feedforward loop is designed to decrease matching errors and the gains of the feedback loop are selected from the feasible region in the parameter space. To verify the effectiveness of the CACC controller, a six-vehicle platoon with a simplified vehicular dynamic is simulated under speed-up and stop scenarios. The simulation results demonstrate that the disturbance is attenuated along with the platoon and the following errors are convergent with well-designed convergent performance. A CarSim/Simulink co-simulation is designed to further verify the effectiveness of the hierarchical control framework and the rationality of the CACC controller in the real vehicular platoon application. The simulation results under the highway fuel economy test drive cycle show that the CACC controller improves the drive comfort and significantly decreases the following errors.

Highlights

  • The intelligent transportation system is a popular research topic to deal with the traffic congestion

  • With the acceleration disturbance of the leader vehicle, the following errors are convergent without fluctuations and overshoot

  • (2) The feedback gains selected from the feasible region shown in Figs. 5 and 6 guarantee the string stability of the Cooperative adaptive cruise control (CACC) controller, and the following errors is quite small which is the benefit of the well-designed convergence performance

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Summary

Introduction

The intelligent transportation system is a popular research topic to deal with the traffic congestion. Reference [16] replaces the left half of the s-plane by the designed D -region, which proposes the bandwidth, damping ratio and desired settling time instead of only absolute stability Another shortcoming of most literature is that they ignore the effect of feedforward control on reducing the following errors [13, 17, 18], and the feedforward gain is selected as a constant. The feasible region of control parameters is graphically represented in the parameter space, where the internal stability and the string stability are guaranteed This method gives the selection range of control parameters diagrammatically and demonstrates the effect of communication time delay intuitively.

Control Framework
CACC Controller Design
Longitudinal Tracking Controller Design
Parameter‐Space‐Approach‐Based CACC Controller Design
Internal Stability
String Stability
Verification of the Internal Stability and String
Numerical Simulation
Simplified Speed‐Up and Stop Scenario
Conclusions
Full Text
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