Distributed Vehicle Platoon Control with Leader Selection Strategy

Ouyang，Zikai1; Li，Zhicheng2; Chen，Shibo1; Yang，Zaiyue1

10.23919/CCC52363.2021.9550403

2021-07-26

1934-1768

2161-2927

978-1-6654-1195-0

Chinese Control Conference, CCC

2021-July

6010-6015

26-28 July 2021

Shanghai, China

This paper investigates the control problem of vehicle platoon with leader selection strategy. The current research on vehicle platoon control is based on the leader-follower communication structure. Under such structure, each follower tracks the state of its front vehicle to maintain a proper distance and form a platoon. However, the disadvantage of this fixed communication structure is that followers are short of capacity of resisting disturbance when the first vehicle (FV) of platoon is disturbed. To solve this problem, a vehicle platoon model where each follower is able to take any front vehicle as its leader is proposed. Based on this model, the corresponding controller and leader selection strategy are designed. That is, first, a controller considering the string stability of vehicle platoon with various communication topologies is designed; then, each follower changes its connecting vehicle in the communication link to reduce the impact of disturbance on FV when FV suddenly slows down or speeds up. The simulation results show the effectiveness of the control method and the strategy.

distributed control leader selection strategy Vehicle platoon

第一

英语

EI

20214311045771

Controllers ; Vehicle to vehicle communications

Radio Systems and Equipment:716.3 ; Control Equipment:732.1

2-s2.0-85117314129

Scopus

1.Southern University of Science and Technology,Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Shenzhen,518055,China
2.Southern University of Science and Technology,Academy for Advanced Interdisciplinary Studies,Shenzhen,518055,China

Ouyang，Zikai,Li，Zhicheng,Chen，Shibo,et al. Distributed Vehicle Platoon Control with Leader Selection Strategy[C],2021:6010-6015.