Article: Optimal coordinated control of a vehicular platoon by taking into account the individual vehicle dynamics Journal: International Journal of Vehicle Design (IJVD) 2019 Vol.81 No.3/4 pp.137 - 165 Abstract: In most of the previous studies about vehicular platooning control, the individual vehicle in a platoon is simply viewed as a lumped-mass point without considering the vehicle inherent dynamics. From this point, a novel optimal coordinated platooning control (OCPC) scheme is proposed in this work. In detail, not only the relative motions between adjacent vehicles but also the individual vehicle dynamics (wheel rotational dynamics) are taken into account. The OCPC controller is designed as a linear quadratic regulator to force the platooning following control and individual vehicle dynamics control automatically to reach a tradeoff. The string stability and scalability property of the platoon with the proposed OCPC scheme are analysed theoretically. Numerical simulations on a nonlinear six-vehicle platoon model have been conducted and superior platooning following performance can be achieved by the proposed control scheme in both high and low adhesion road conditions. Inderscience Publishers - linking academia, business and industry through research

Title: Optimal coordinated control of a vehicular platoon by taking into account the individual vehicle dynamics

Authors: Xiujian Yang; Yayong Chen; Jin Gao

Addresses: Faculty of Transportation Engineering, Kunming University of Science and Technology, No. 727, South Jingming Rd., Chenggong District, Kunming, 650500, China ' Faculty of Transportation Engineering, Kunming University of Science and Technology, No. 727, South Jingming Rd., Chenggong District, Kunming, 650500, China ' Faculty of Transportation Engineering, Kunming University of Science and Technology, No. 727, South Jingming Rd., Chenggong District, Kunming, 650500, China

Abstract: In most of the previous studies about vehicular platooning control, the individual vehicle in a platoon is simply viewed as a lumped-mass point without considering the vehicle inherent dynamics. From this point, a novel optimal coordinated platooning control (OCPC) scheme is proposed in this work. In detail, not only the relative motions between adjacent vehicles but also the individual vehicle dynamics (wheel rotational dynamics) are taken into account. The OCPC controller is designed as a linear quadratic regulator to force the platooning following control and individual vehicle dynamics control automatically to reach a tradeoff. The string stability and scalability property of the platoon with the proposed OCPC scheme are analysed theoretically. Numerical simulations on a nonlinear six-vehicle platoon model have been conducted and superior platooning following performance can be achieved by the proposed control scheme in both high and low adhesion road conditions.

Keywords: vehicle dynamics; vehicular platooning; multi-agent system; string stability; intelligent vehicle; intelligent transportation; optimal control.

DOI: 10.1504/IJVD.2019.111586

International Journal of Vehicle Design, 2019 Vol.81 No.3/4, pp.137 - 165

Accepted: 17 Jun 2020
Published online: 02 Dec 2020 *

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Title: Optimal coordinated control of a vehicular platoon by taking into account the individual vehicle dynamics

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