Distributed feedback linear control for heterogeneous freight vehicle platoon on highway

doi:10.3969/j.issn.1674-8484.2022.03.008

Abstract

Abstract:

A method of distributed feedback linearization controller was proposed to improve the lane-change stability of heterogeneous freight vehicle platoon on highway. Taking the heterogeneous freight vehicle platoon composed of trucks and tractor-semitrailers as the research object, a high-speed lane changing path planning set was established with use of Gaussian distribution fitting method, and the motion characteristics of the vehicle platoon during high-speed lane changing was analyzed with considering the communication delay and dynamic difference. A nonlinear system dynamics model of heterogeneous freight vehicle platoons was constructed, an active control strategy for safe lane changing of vehicle platoons was proposed, and a distributed feedback linear controller was designed. Using VTD and Matlab/Simulink, a high-speed lane changing traffic scene was established and simulated. The results show that the distance change between two adjacent vehicles is less than 1%. Therefore, the controller can ensure the track tracking and stability of the heterogeneous freight vehicle platoon.

Key words: freight transportation safety, autonomous driving, heterogeneous vehicle platoon, lane-change on highway, distributed control, stability analysis

CLC Number:

U469.2

PENG Tao, XU Qing, CHEN Qiang, GUAN Zhiwei, HOU Haijing, WANG Tao, LI Jialin. Distributed feedback linear control for heterogeneous freight vehicle platoon on highway[J]. Journal of Automotive Safety and Energy, 2022, 13(3): 473-481.

Figures/Tables 9

References 26

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场景	车号	车辆类型	m t	t_d ms
1	1	空载卡车（领头车）	5.760	0
	2	满载卡车	12.800	30
	3	空载半挂汽车列车	15.979	60
	4	满载半挂汽车列车	49.000	90
2	1	半载卡车（领头车）	9.280	0
	2	空载半挂汽车列车	15.979	30
	3	满载半挂汽车列车	49.000	60
	4	半载半挂汽车列车	32.490	90

场景	车号	车辆类型	m t	t_d ms
1	1	空载卡车（领头车）	5.760	0
	2	满载卡车	12.800	30
	3	空载半挂汽车列车	15.979	60
	4	满载半挂汽车列车	49.000	90
2	1	半载卡车（领头车）	9.280	0
	2	空载半挂汽车列车	15.979	30
	3	满载半挂汽车列车	49.000	60
	4	半载半挂汽车列车	32.490	90