Stability Design for the Homogeneous Platoon with Communication Time Delay  

作　　者：Fangwu Ma Jiawei Wang Yu Yang Liang Wu Sheng Zhu Sukru Yaren Gelbal Bilin Aksun-Guvenc Levent Guvenc 

机构地区：[1]College of Automotive Engineering,Jilin University,5988 Renmin Street,Changchun 130022,China [2]The Automated Driving Lab,Ohio State University,Columbus,OH 43210,United States of America

出　　处：《Automotive Innovation》2020年第2期101-110,共10页汽车创新工程（英文）

基　　金：supported by the Jilin Province Key Technology and Development Program(No.20190302077GX);the National Key Technologies R&D Program of China during the 13th Five-Year Plan Period(No.2017YFC0601604).

摘　　要：A hierarchical control framework is applied for the distributed cooperative vehicular platoon using vehicular ad-hoc networks.The parameter-space-approach-based cooperative adaptive cruise control(CACC)controller is proposed to guarantee the D-stability and the string stability considering the influence of the communication time delay and time lag of vehicular dynamic performance.This CACC controller combines the feedforward loop of the acceleration of the preceding vehicle with the feedback loop of the following errors,in which the gain of the feedforward loop is designed to decrease matching errors and the gains of the feedback loop are selected from the feasible region in the parameter space.To verify the effectiveness of the CACC controller,a six-vehicle platoon with a simplified vehicular dynamic is simulated under speed-up and stop scenarios.The simulation results demonstrate that the disturbance is attenuated along with the platoon and the following errors are convergent with well-designed convergent performance.A CarSim/Simulink co-simulation is designed to further verify the effectiveness of the hierarchical control framework and the rationality of the CACC controller in the real vehicular platoon application.The simulation results under the highway fuel economy test drive cycle show that the CACC controller improves the drive comfort and significantly decreases the following errors.

关 键 词：Cooperative adaptive cruise control Parameter space approach String stability D-stability longitudinal tracking 

分 类 号：U46[机械工程—车辆工程]