Journal
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING
Volume 236, Issue 14, Pages 3153-3167Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/09544070211070526
Keywords
Cooperative adaptive cruise control; distributed model predictive control; heterogeneous platoon; asymptotic stability; string stability
Funding
- National Natural Science Foundation of China [U19A2069]
- National Nature Science Foundation [U1664263]
- National Key R&D Program of China [2016YFB0101102]
Ask authors/readers for more resources
This paper introduces a distributed model predictive control algorithm to address the cruise control problem of a heterogeneous platoon. The algorithm considers the dynamic parameter differences of each vehicle in the platoon and designs cost functions and constraints for local optimal control problems to ensure the string stability of the platoon.
This paper presents a distributed model predictive control algorithm to solve the cruise control problem of a heterogeneous platoon. Each following vehicle in the platoon can use the communication equipment to receive the information of the leading vehicle and its preceding adjacent one. The vehicles in the platoon are dynamically decoupled and have different dynamic parameters. Each vehicle solves a local optimal control problem independently. The cost function of each vehicle's local optimal control algorithm is designed with traceability as the control objective, and its asymptotic stability is guaranteed by using the terminal constraint method. In addition, the timestamps of all vehicles in the platoon are synchronous, which means that in each sampling period, a specific vehicle in the platoon cannot obtain the solution results of other vehicles' local optimal control problems at the current sampling moment. Under this restriction, the constraints that each vehicle needs to meet to realize the platoon's string stability are also designed. Finally, the simulation results show the effectiveness of the algorithm.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available