Optimal Spacing Policy for Vehicle Platoon Control with Road-Friction Coefficient

Zuo, Lei; Meng, Duo; Zhang, Jinqi

doi:10.1155/2021/1613401

Cited by 3 publications

(2 citation statements)

References 33 publications

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“…Wang et al (2019) designed a distributed control law with dynamic gain based on the single integral model, which can satisfy the flexible safety distance constraint. Zuo et al (2021) considered the vehicle platoon control problem of road friction coefficient and designed an optimal spacing strategy using the safety cost function and gradient descent method. Taking into account actuator saturation and unknown disturbances, Guo and Li (2019) designed an adaptive sliding mode control (SMC) strategy.…”

Section: Introductionmentioning

confidence: 99%

Coordinated control of longitudinal and lateral movements considering dynamics for distributed drive electric vehicle platoon on curved roads

Fang

Wang

Zhao

et al. 2023

Transactions of the Institute of Measurement and Control

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The control goal of the vehicle platoon is to maintain the same speed and desired distance. Most current studies are based on simplified vehicle models, and the leader’s state is also rarely considered. However, under complex working conditions, such as low adhesion or curves, the lateral stability of the platoon will be difficult to guarantee, and tracking errors of desired speed and spacing may further increase. To solve the above problems, a new hierarchical coordinated control strategy is proposed. Taking distributed drive electric vehicles (DDEVs) as research objects, the upper control level establishes a stability situation assessment model according to the vehicle’s dynamic characteristics. At the medium control level, variable weight model predictive control (MPC) coordinates conflicts between longitudinal tracking and lateral stability. A correction term is also introduced to revise the prediction model. At the same time, the weight of different control objectives of the leader and following vehicle was adjusted, respectively. Torque distribution is carried out at the lower level controller. Finally, the control strategy is tested on a hardware-in-the-loop (HIL) platform. The results show that the proposed control strategy can ensure lateral stability while improving the tracking performance of the vehicle platoon.

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Section: Introductionmentioning

confidence: 99%

Coordinated control of longitudinal and lateral movements considering dynamics for distributed drive electric vehicle platoon on curved roads

Fang

Wang

Zhao

et al. 2023

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

show abstract

“…Therefore, many researchers have focused on regulating the distance between vehicles while driving in the platoon. Zuo et al (2021) proposed an optimal spacing strategy for vehicle platoons. The researcher developed an optimization framework for vehicle spacing using safety cost function and gradient decreasing method.…”

Section: Introductionmentioning

confidence: 99%

Aerodynamic optimization of mixed platoon Ahmed body vehicles based on response surface method

Luo,

Tie,

et al. 2023

HFF

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Purpose The purpose of this paper is to investigate the optimal average drag coefficient of the Ahmed body for mixed platoon driving under crosswind and no crosswind conditions using the response surface optimization method. This study has extraordinary implications for the planning of future intelligent transportation. Design/methodology/approach First, the single vehicle and vehicle platoon models are validated. Second, the configuration with the lowest average drag coefficient under the two conditions is obtained by response surface optimization. At the same time, the aerodynamic characteristics of the mixed platoon driving under different conditions are also analyzed. Findings The configuration with the lowest average drag coefficient under no crosswind conditions is 0.3 L for longitudinal spacing and 0.8 W for lateral spacing, with an average drag coefficient of 0.1931. The configuration with the lowest average drag coefficient under crosswind conditions is 10° for yaw angle, 0.25 L for longitudinal spacing, and 0.8 W for lateral spacing, with an average drag coefficient of 0.2251. Compared to the single vehicle, the average drag coefficients for the two conditions are reduced by 25.1% and 41.3%, respectively. Originality/value This paper investigates the lowest average drag coefficient for mixed platoon driving under no crosswind and crosswind conditions using a response surface optimization method. The computational fluid dynamics (CFD) results of single vehicle and vehicle platoon are compared and verified with the experimental results to ensure the reliability of this study. The research results provide theoretical reference and guidance for the planning of intelligent transportation.

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Research on collaborative adaptive cruise control based on MPC and improved spacing policy

Yang,

Wang,

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part D:

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A Cooperative Adaptive Cruise Control (CACC) algorithm based on Model Predictive Control (MPC) and an improved spacing policy is proposed in this study to address the current issues of low road utilization and inadequate dynamic regulation during platoon driving. First and foremost, the state of the leader vehicle and the minimum safe following distance are incorporated into the spacing policy to create an enhanced constant time headway (CTH) spacing policy. Secondly, following the MPC principle, the optimization problem of vehicle platoon is converted into a constrained quadratic programming problem that fulfills the requirements of driving safety, following distance, and ride comfort in a platoon. Finally, six-homogeneous-vehicle platoon is constructed for simulation verification, and the results show that the designed algorithm can not only ensure the string stability of platoon, but also effectively improve the road utilization rate. And in the vehicle of platoon cut-in/cut-out conditions, CACC is proven to have good ability of dynamically adjusting and restoring platoon stability.

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Optimal Spacing Policy for Vehicle Platoon Control with Road-Friction Coefficient

Cited by 3 publications

References 33 publications

Coordinated control of longitudinal and lateral movements considering dynamics for distributed drive electric vehicle platoon on curved roads

Coordinated control of longitudinal and lateral movements considering dynamics for distributed drive electric vehicle platoon on curved roads

Aerodynamic optimization of mixed platoon Ahmed body vehicles based on response surface method

Research on collaborative adaptive cruise control based on MPC and improved spacing policy

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