Study of autonomous platoon vehicle longitudinal modeling

Abstract

In the past study of issues related to autonomous platoon vehicles with little consideration of vehicles internal information factors. Thus, longitudinal vehicle model was built, the vehicle interior information external information and physical factors are fused together and the impact of vehicle interior information on the control of autonomous platoon vehicle is analyzed. Fuzzy PI controller is designed and realized the longitudinal control of following vehicle. Use Matlab to build a vehicle cyber-physical models and vehicle simulation environment. The experiment simulations show that vehicle interior information delays affecting the control of autonomous platoon vehicles, the designed model and fuzzy PI controller can realize safety of vehicle tracking control, also can maintain the platoon stable.

ELM-Based Non-Singular Fast Terminal Sliding Mode Control Strategy for Vehicle Platoon

“…Vehicle platoon control requirements are complex. When the platoon encounter special circumstances or the speed changes, how to maintain the stable spacing error is the key issue [21]. Wireless communication technology and other new technologies have brought many new ideas for formation realization, which can be roughly divided into the following four categories according to the choice of theoretical basis: behavior based method [22,23], artificial potential field method [24,25], model prediction control method [26,27] and leader-follower method.…”

“…Liang et al [36] developed a position estimator that can provide online position estimates of followers relative to leaders, thus ensuring the stability of the entire formation system. Yang et al [21] designed a fuzzy PI controller for vehicle safety following control, which can effectively eliminate the influence of information delay in the platoon. Defoort et al [37] developed a coordinated control scheme based on the leader-following method, and proposed a sliding mode controller that can ensure the gradual adjustment of vehicles to the desired formation effect.…”