Research on the Stability Control Strategy of High-Speed Steering Intelligent Vehicle Platooning

Abstract

Based on an investigation of how vehicle structural characteristics and system parameters influence the motion stability of high-speed steering intelligent vehicle platooning, a control strategy for ensuring motion stability is proposed. This strategy is based on a virtual articulated concept and is validated using both characteristic equation analysis and time domain analysis methods. To create a system, any two adjacent front and rear vehicles in the intelligent vehicle platooning are connected using a virtual articulated model constructed through the virtual structure method. A ten-degrees-of-freedom model of the intelligent vehicle platooning system is established, taking into account the nonlinearities of the tire and steering systems, utilizing the principles of the second Lagrange equation theory. The system damping ratio is determined through characteristic equation analysis, and the system’s dynamic critical speed is assessed by examining the relationship between the damping ratio and the motion stability of the intelligent vehicle platooning, serving as an indicator of system stability. By applying sensitivity analysis, control variable analysis, and time domain analysis methods, the influence of vehicle structural characteristics and system parameters on the system’s dynamic critical speed and motion stability under lateral disturbances within the intelligent vehicle platooning is thoroughly investigated, thereby validating the soundness of the proposed control strategy.