Local Disturbance Cooperative Control of Heterogeneous Vehicle Platoon Based on Situation Assessment

IF 1.5 4区工程技术 Q3 ENGINEERING, MECHANICAL

International Journal of Automotive Technology Pub Date : 2024-02-20 DOI:10.1007/s12239-024-00008-8

Ting Fang, Qidong Wang, Linfeng Zhao, Wuwei Chen, Bixin Cai, Mingyue Yan

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Abstract

In the longitudinal driving of a heterogeneous platoon, external disturbances of local vehicles can cause safety problems of the intended functionality. Therefore, a cooperative control method based on situation assessment is proposed. First, the minimum safe distance is determined according to the state of adjacent vehicles. A novel situation assessment model is established to characterize the stability of the platoon. Vehicle spacing, speed, and acceleration are selected as evaluation indicators. Then, an improved active disturbance rejection controller (IADRC) is designed to improve platoon stability through feedback compensation control. In addition, considering the unnecessary continuous involvement of the IADRC, its intervention time is determined by the situation assessment results. Finally, simulation and hardware-in-the-loop (HIL) experiments are carried out under two communication topologies. The results show that the proposed method can effectively improve the stability and safety of the platoon.

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基于态势评估的异构车辆排局部干扰协同控制

在异质排的纵向行驶中，局部车辆的外部干扰会导致预期功能的安全问题。因此，我们提出了一种基于情况评估的协同控制方法。首先，根据相邻车辆的状态确定最小安全距离。建立一个新颖的态势评估模型来描述排成一排的车辆的稳定性。选择车辆间距、速度和加速度作为评估指标。然后，设计了一种改进的主动干扰抑制控制器（IADRC），通过反馈补偿控制来提高排稳定性。此外，考虑到 IADRC 不必要的持续参与，其干预时间由情况评估结果决定。最后，在两种通信拓扑结构下进行了仿真和硬件在环（HIL）实验。结果表明，所提出的方法能有效提高排的稳定性和安全性。

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来源期刊

International Journal of Automotive Technology 工程技术-工程：机械

CiteScore

3.10

自引率

12.50%

发文量

129

审稿时长

6 months

期刊介绍： The International Journal of Automotive Technology has as its objective the publication and dissemination of original research in all fields of AUTOMOTIVE TECHNOLOGY, SCIENCE and ENGINEERING. It fosters thus the exchange of ideas among researchers in different parts of the world and also among researchers who emphasize different aspects of the foundations and applications of the field. Standing as it does at the cross-roads of Physics, Chemistry, Mechanics, Engineering Design and Materials Sciences, AUTOMOTIVE TECHNOLOGY is experiencing considerable growth as a result of recent technological advances. The Journal, by providing an international medium of communication, is encouraging this growth and is encompassing all aspects of the field from thermal engineering, flow analysis, structural analysis, modal analysis, control, vehicular electronics, mechatronis, electro-mechanical engineering, optimum design methods, ITS, and recycling. Interest extends from the basic science to technology applications with analytical, experimental and numerical studies. The emphasis is placed on contributions that appear to be of permanent interest to research workers and engineers in the field. If furthering knowledge in the area of principal concern of the Journal, papers of primary interest to the innovative disciplines of AUTOMOTIVE TECHNOLOGY, SCIENCE and ENGINEERING may be published. Papers that are merely illustrations of established principles and procedures, even though possibly containing new numerical or experimental data, will generally not be published. When outstanding advances are made in existing areas or when new areas have been developed to a definitive stage, special review articles will be considered by the editors. No length limitations for contributions are set, but only concisely written papers are published. Brief articles are considered on the basis of technical merit.