Journal
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
Volume 22, Issue 8, Pages 4929-4940Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2020.2983468
Keywords
Topology; Stability analysis; Delays; Switches; Roads; Network topology; Connected automated vehicle; consensus control; platooning; input saturation; VTH strategy
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Funding
- National Natural Science Foundation of China [11772264]
- Natural Science Basis Research Plan in Shaanxi Province of China [2019JM-249]
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This study focuses on the practical actuator constraints and spacing strategies in automated vehicle platoon control systems, proposing a new control approach that incorporates input saturation and VTH spacing strategy in the consensus algorithm. Numerical simulation results demonstrate the effectiveness of the proposed approach and the necessity of introducing these constraint strategies.
The rationality of the spacing strategy directly affects automated vehicle safety and road utilization. It is necessary to consider practical actuator constraints in vehicle platoon control systems to ensure the security and driving comfort. In this paper, an important actuator constraint and a more effective spacing strategy are embedded into the connected automated vehicle platoon control. A new consensus-based control approach with the input saturation and variable time headway (VTH) spacing strategy is proposed. The homogeneous time-varying communication delays are included into the consensus algorithm. By employing the Lyapunov-Krasovskii theorem and the Lyapunov-Razumikhin theorem, the global asymptotic stability conditions of the system under fixed topology and switching topology are derived, respectively. Numerical simulation results demonstrate the effectiveness of the proposed approach and the necessity of introducing the input saturation and VTH spacing strategy.
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