A longitudinal switching control of autonomous platoon with maintaining safe distance

Author

Cao Jianghua ; Jia Xinchun ; Li Lei ; Xing Xiaoling ; Yang Bo

Author_Institution

Sch. of Math. Sci., Shanxi Univ., Taiyuan, China

fYear

2013

Firstpage

5600

Lastpage

5604

Abstract

In this paper, a longitudinal switching control of autonomous platoon is investigated. Firstly, the switching control model is established by considering the variation of the relative velocity between following vehicle and preceding vehicle. Then, the dynamic models with the relative velocity and spacing error are given by according to the response delay and transmission delay´s influence on the parameters of vehicles, and the string stability is analyzed under the control parameters meeting certain conditions. Finally, the simulation results show that the proposed switch control method make an autonomous platoon maintain a safe distance.

Keywords

position control; vehicle dynamics; velocity control; autonomous platoon; control parameters; following vehicle; longitudinal switching control; preceding vehicle; relative velocity variation; response delay; spacing error; switching control model; transmission delay; vehicle dynamic models; vehicle parameters; Educational institutions; Electronic mail; Mathematical model; Stability analysis; Switches; Vehicles; Constant distance; constant time headway; relative velocity; string stability; switch control; time delay;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2013 32nd Chinese

Conference_Location

Xi´an

Type

conf

Filename

6640416