Stability control and energy-saving of an intelligent networked platoon system composed of fuel vehicles and pure electric vehicles

doi:10.3969/j.issn.1674-8484.2024.01.008

Abstract

Abstract:

An energy saving strategy and a stability control method were proposed for heterogeneous intelligent connected platoon system composed of fuel vehicles and pure electric vehicles. A nonlinear system dynamics model and an energy consumption model were established for heterogeneous vehicle platoon considering the influence of multiple adverse factors such as the dynamic characteristics of heterogeneous vehicles, the communication delay and the external interference. The single vehicle economic speed was derived based on the energy cost and the backward dynamic programming method. The state tracking error system was constructed according to the proposed energy-saving spacing strategy. The platoon system stability criterion under interference and information delay was given based on the distributed robust control method in continuous time domain. A platoon system containing 4 following vehicles was simulated. The results show that the energy saving effect of following vehicles are improved by 1.90%, 1.25%, 19.11% and 12.22% respectively for the 4 following vehicles under the premise of keeping the platoon system stable.

Key words: fuel vehicles, pure electric vehicles, heterogeneous intelligent connected platoon, energy saving strategy, stability control, communication delay, external interference, distributed robust control

CLC Number:

U469.7

XU Mingcheng, XU Liwei, YIN Guodong, DONG Fengwei. Stability control and energy-saving of an intelligent networked platoon system composed of fuel vehicles and pure electric vehicles[J]. Journal of Automotive Safety and Energy, 2024, 15(1): 71-82.

Figures/Tables 14

References 27

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重力加速度， g	9.8 m/s²
空气阻力因数， C_A	0.30
滚动阻尼因数， f	0.015
轮胎有效半径， R_W	0.30 m

重力加速度， g	9.8 m/s²
空气阻力因数， C_A	0.30
滚动阻尼因数， f	0.015
轮胎有效半径， R_W	0.30 m

车号	m / t	i_g	α₀	α₁	α₂ / 10^-4	α₃ / 10^-5	α₄ / 10^-2	α₅ / 10^-2	α₆ / 10^-3
0#	12.45	0.4	0.178 8	0.022 0	-8.415	4.675	9.224	8.981	1.875
1#	13.45	1.8	0.210 5	0.018 5	-7.868	6.330	5.014	9.880	0.885
2#	11.45	2.4	0.156 9	0.024 5	-7.415	5.975	7.224	9.681	1.075

车号	m / t	i_g	α₀	α₁	α₂ / 10^-4	α₃ / 10^-5	α₄ / 10^-2	α₅ / 10^-2	α₆ / 10^-3
0#	12.45	0.4	0.178 8	0.022 0	-8.415	4.675	9.224	8.981	1.875
1#	13.45	1.8	0.210 5	0.018 5	-7.868	6.330	5.014	9.880	0.885
2#	11.45	2.4	0.156 9	0.024 5	-7.415	5.975	7.224	9.681	1.075

车号	m / t	E_bat / MJ	a	β₀ / 10^-5	β₁ / 10^-5	β₂ / 10^-4	β₃ / 10^-5	β₄ / 10^-6	β₅ / 10^-4
3#	12.45	172.8	≥0	1.79	2.80	6.71	-1.04	-1.31	7.57
3#	12.45	172.8	<0	147.00	16.90	-13.70	19.20	-5.32	9.48
4#	13.45	172.8	≥0	1.95	2.44	6.20	-1.68	-1.42	7.85
4#	13.45	172.8	<0	1.03	13.20	-17.60	21.30	-5.40	9.98