Local Disturbance Cooperative Control of Heterogeneous Vehicle Platoon Based on Situation Assessment

Abstract

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 effectively improve the stability and safety of the platoon.

Appendix

1.1 A Proof of Theorem 1

Define the spacing error as:

$${e}_{i}\left(t\right)={p}_{i-1}\left(t\right)-{p}_{i}\left(t\right)-{p}_{m}$$

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Then we obtain ${\ddot{e}}_{i}\left(t\right)={a}_{i-1}\left(t\right)-{a}_{i}(t)$, given that the accelerations of ${a}_{i}\left(t\right)$ and ${a}_{i-1}(t)$ are bounded, it indicates that ${\ddot{e}}_{i}\left(t\right)\in {\mathcal{L}}_{\infty }$, so ${\dot{e}}_{i}(t)$ is uniformly continuous. Besides,

$${\int }_{0}^{\infty }\left|{\dot{e}}_{i}(t)\right|{\text{d}}t=\left|{e}_{i}(\infty )\right|-\left|{e}_{i}\left(0\right)\right|<\infty$$

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Therefore, ${\dot{e}}_{i}(t)\in {\mathcal{L}}_{2}$. We have $\underset{t\to \infty }{{\text{lim}}}{\dot{e}}_{i}(t)=0$ according to Lemma 1. Consequently, we have ${\dot{e}}_{i}(t)\in {\mathcal{L}}_{\infty }$. Similarly, we have ${e}_{i}(t)\in {\mathcal{L}}_{2}$. And we further have.

$\underset{t\to \infty }{{\text{lim}}}{e}_{i}(t)=0$ based on Lemma 1.

If $\widetilde{\xi }>0$, then ${\Vert {e}_{i}(0)\Vert }_{\infty }={{\text{sup}}}_{i}\left|{e}_{i}(0)\right|=0<\widetilde{\xi }$. In.

addition, consider that $\underset{t\to \infty }{{\text{lim}}}{e}_{i}\left(t\right)=0$, ${e}_{i}\left(0\right)=0$, ${e}_{i}(t)\in {\mathcal{L}}_{2}$. Hence, $\exists \zeta$,$\varrho >0$,$s.t.$ ${{\text{sup}}}_{i,t\in [0,\infty )}\left|{e}_{i}(t)\right|=\zeta <\varrho$.Therefore, the string stability is proved according to Definition 1.