State transition-based novel dynamic control algorithm for vehicle-following performance improvement

Abstract

This study aims to improve the safety and efficiency of vehicle-following behavior through a smooth vehicle behavior adjustment process. A dynamic control algorithm based on state transition is proposed for the following vehicle to enable it to incorporate better behavioral adjustments. This algorithm organically integrates a new generalized velocity difference control with the velocity control based on hyperbolic function to exploit its advantages and avoid weaknesses. The new generalized mathematical model based on fitting function is built for vehicle-following control within the neighborhood of a safe and efficient steady-following state, outside which, the velocity control method based on hyperbolic function is used by the following vehicle to adjust its behavior. In this algorithm, the absolute and relative braking modes can be flexibly selected by the following vehicle for safety control. Then, we establish a state transition diagram and a state optimization model with the safe and efficient steady-following state as the optimization objective of the vehicle-following behavior. The simulation shows that the current or a new safe and efficient steady-following state can be maintained, recovered, or reestablished by implementing the dynamic control algorithm based on state transition, and the synchronous control of the following vehicle's velocity, acceleration, and inter-vehicle distance can be realized by the following vehicle adjusting its own behavior safely, efficiently, and smoothly.