25권 2호 183-200 2024 [IJAT]
| 제목 | Local Disturbance Cooperative Control of Heterogeneous Vehicle Platoon Based on Situation Assessment |
|---|---|
| 분야 | ADAS, AI, Autonomous Vehicles |
| 언어 | English |
| 저자 | Ting Fang(Hefei University of Technology), Qidong Wang(Hefei University of Technology), Linfeng Zhao(Hefei University of Technology), Wuwei Chen(Hefei University of Technology), Bixin Cai(Hefei University of Technology), Mingyue Yan(Hefei University of Technology) |
| Key Words | Vehicle platoon · External disturbances · Safety of the intended functionality · Stability situation assessment · Improved active disturbance rejection controller (IADRC) |
| 초록 |
In the longitudinal driving of a heterogeneous platoon, external disturbances of local vehicles can cause safety problems of the intended functionality. Therefore, a cooperative control method based on situation assessment is proposed. First, the minimum safe distance is determined according to the state of adjacent vehicles. A novel situation assessment model is established to characterize the stability of the platoon. Vehicle spacing, speed, and acceleration are selected as evaluation indicators. Then, an improved active disturbance rejection controller (IADRC) is designed to improve platoon stability through feedback compensation control. In addition, considering the unnecessary continuous involvement of the IADRC, its intervention time is determined by the situation assessment results. Finally, simulation and hardware-in-the-loop (HIL) experiments are carried out under two communication topologies. The results show that the proposed method can eff ectively improve the stability and safety of the platoon. |
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