This paper proposes a hierarchical longitudinal control algorithm for truck platoon and co-simulated with TruckSim and PreScan. In particular, the upper-level acceleration controller is designed based on sliding-mode control (SMC) method which is to calculate the desired acceleration, and the lower-level tracking controller is designed based on truck power transmission theory. Then, the plant stability and string stability were analyzed by Routh-Hurwitz criterion and s-domain analysis methods respectively. Finally, a scenario of platoon with five trucks is constructed in PreScan to conduct the co-simulations with TruckSim. The results verify the effectiveness of the proposed truck platoon controller.
Hierarchical Longitudinal Control of Truck Platoon Based on PreScan and TruckSim
2021-10-29
1816792 byte
Conference paper
Electronic Resource
English
Wiley | 2022
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