Sliding Mode-Based Time-Headway Dynamics for Heavy Road Vehicle Platoon Control

K. B. Devika, S. Subramanian
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Abstract

Controller design for establishing string stability in Heavy Commercial Road Vehicle (HCRV) platoons usually relies on a Constant Time-Headway (CTH) policy while defining the desired intervehicular distance. However, previous studies in this area reported that CTH based design would result in string instability, while the platoon operates on certain road and vehicular operating conditions. In this regard, this paper attempts to incorporate time-headway dynamics along with vehicle dynamics to design string stable controller for HCRV platoons. Sliding Mode Control (SMC) has been suitably been utilized to derive the time-headway dynamics. The headway magnitude that are evolved from the SMC-based time-headway dynamics has been suitably integrated with an Artificial Potential Field (APF)- based string controller. Compared to CTH-based APF controller, the proposed scheme was seen to ensure string stability under wide range of operating conditions, particularly during perturbation maneuvers with high acceleration/deceleration magnitudes on low coefficient of friction roads.
基于滑模的重型道路车辆队列控制时距动力学
在重型商用道路车辆(HCRV)队列中,用于建立串稳定性的控制器设计通常依赖于恒时距(CTH)策略来定义所需的车辆间距离。然而,该领域之前的研究报告称,在特定的道路和车辆工况下,基于CTH的设计会导致管柱不稳定。为此,本文尝试将车头时距动力学与车辆动力学相结合,设计HCRV排串稳定控制器。滑模控制(SMC)被适当地用于获得时距动力学。从基于smc的车头时距动力学演化而来的车头时距幅度与基于人工势场(APF)的串控制器相结合。与基于cth的APF控制器相比,所提出的方案可以确保管柱在各种工况下的稳定性,特别是在低摩擦系数路面上具有高加减速幅度的摄动机动时。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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