To achieve a safe vehicle platooning system, it is essential to guarantee the string stability of the vehicle platoon while handling the safety, comfort, and performance constraints. This paper presents a distributed reference governor (RG) approach to the constraint handling of vehicle platoons equipped with cooperative adaptive cruise control. First, a string stable platoon is designed based on a frequency-domain approach. Second, an RG is designed that sits behind the controlled system and keeps the output inside the defined constraints. RG does not change the behavior of the controlled system; therefore, the platoon remains string stable based on the frequency-domain design. Only when there is a possibility of violating the defined constraints, the RG would intervene to push the system back into the constraints. Third, to improve the platoon’s energy economy, a controller is presented for the leader’s control using nonlinear model predictive control method, assuming it is a plug-in hybrid electric vehicle. Evaluations performed with a platoon model constructed using high-fidelity models of the baseline vehicle show that the proposed method is able to simultaneously maintain the string stability and platooning constraints, while improving the total energy economy of the entire platoon. Moreover, the results of the hardware-in-the-loop testing demonstrate the performance of the proposed controller in real-time application.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A Distributed Reference Governor Approach to Ecological Cooperative Adaptive Cruise Control


    Contributors:


    Publication date :

    2018-05-01


    Size :

    3686521 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Ecological Cooperative and Adaptive Cruise Control*

    Lei, Mingyue / Yan, Xuerun / Hu, Jia et al. | IEEE | 2023


    Cooperative Adaptive Cruise Control

    Shladover, Steven E. / Nowakowski, Christopher / Lu, Xiao-Yun et al. | Transportation Research Record | 2015


    Adaptive and Cooperative Cruise Control

    Dr. Bu, Fanping / Dr. Chan, Ching-Yao | Springer Verlag | 2012



    EXTENDED COOPERATIVE ADAPTIVE CRUISE CONTROL

    Montanaro, U. / Tufo, M. / Fiengo, G. et al. | British Library Conference Proceedings | 2014