期刊
JOURNAL OF TRANSPORTATION ENGINEERING PART A-SYSTEMS
卷 149, 期 4, 页码 -出版社
ASCE-AMER SOC CIVIL ENGINEERS
DOI: 10.1061/JTEPBS.TEENG-7402
关键词
Heterogeneous platoon; String stability; Spacing policy; Cooperative adaptive cruise control (CACC); Intelligent connected vehicles
Automated platooning is a highly efficient transportation mode for solving traffic congestion. This paper proposes a quantitative spacing policy based on safety optimization and a CACC strategy considering communication latency fluctuation. Simulation results show the robustness of the proposed strategy.
Automated platooning is gaining increasing attention because it is regarded as a highly efficient transportation mode to solve traffic congestion problem. Although different intraplatoon spacing strategies have been proposed, little research has focused on quantitative optimization of spacing policy from a safety perspective considering differences between automated and human-driven platooning. In addition, there still is a lack of comprehensive research into string stability and delay robustness of cooperative adaptive cruise control (CACC) for heterogeneous platoons. This paper proposes a quantitative spacing policy in quadratic form based on safety index optimization under hard braking scenarios. The expected value of collision severity is taken as the main index for spacing optimization. The CACC strategy then tracks the proposed spacing considering fluctuation of multitime delays and uncertainty of vehicle dynamics. Based on sliding model control theory and frequency stability criteria, the sufficient conditions satisfying CACC stability and string stability were given. The robustness of the CACC system considering communication latency fluctuation was shown using simulation results. Compared with the existing control strategy, the proposed control strategy is more robust to communication latency, and string stability can be guaranteed. The proposed spacing strategy effectively can reduce collision risk, and the proposed CACC strategy improves latency robustness on the premise of ensuring string stability.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据