Control Synthesis for Distributed Vehicle Platoon Under topologies: Analysis of String Stability and Comfort 2019-01-0494
The internal of vehicle provide a manner to achieve multi-vehicle cooperative driving, and the platoon of automotive vehicle can significantly improve traffic efficiency and ensure traffic safety. Previous researches mostly focus on the state of one vehicle in the front, and transmit information from self to the next. Nevertheless, this structure possesses high requirements for controller design and shows poor effect in system stability. In this paper, the state of vehicles is related to the information of two vehicles ahead, while V2V communication transmit information over a wide range of area. To begin with, the node dynamic model of vehicle is described by linear integrator with inertia delay and the space control strategy is proposed at different topologies as BF, LBF, and PBF. After considering the influence of communication, the high-dimensional state space expression is proposed and converted to low-dimensional expression by matrix manipulation to benefit later research. An in-deep analysis of the feasible region of the controller is given then to guarantee the string stability of platoon, including the selection of the gain weighing coefficients (c) and the optimization of control gain (K). Furthermore, the highlight in this paper is that the comfort is considered in the optimization of control gain while few papers paying attention to this point. Eventually, simulation results are carried out, when vehicle platoons with different topologies have the same convergence rate, to compare the comfort of vehicle platoons, and illustrate that reasonable topology structure benefit the system stability and riding comfort.