| COOPERATIVE PREVIEW FOLLOWING CONTROL OF
INTELLIGENT MULTIPLE-VEHICLE SYSTEM |
| Neng Wan 1,2, Guangping Zeng 1,3, Xianwei Zhou 1 |
1School of Computer and Communication Engineering, University of Science and Technology Beijing
2School of Mechanical and Traffic Engineering, Southwest Forestry University
3Beijing Key Laboratory of Knowledge Engineering for Materials Science |
|
|
|
|
|
|
|
| ABSTRACT |
|
This paper introduces a design and analysis method of the intelligent multiple-vehicle system (IMVS) based on
preview control in the environment of the vehicle to vehicle (V2V). Considering the time delay, the vehicle longitudinal
dynamics system is constructed. The information flow between vehicles in the platoon is realized by the onboard sensors and
V2V. Based on the actual data sampling and processing, the cooperative optimal preview control problem of the vehicle platoon
stability system is discretized. The error is used as a term of the state vector to expand, and the original problem is transformed
into an augmented global optimal control problem. The existence and stability of the controller solution are analyzed. The
asymptotically stable optimal control law is obtained by using the state augmented matrix, and the global optimal preview
controller of original platoon stability is obtained. The simulation results verify the effectiveness of the designed controller. The
following error decreases with the increase of the preview step, which ensures the stability of the platoon. From the first follower
to the tenth one, the average spacing error decreases by 92.9 %, and the average following error of velocity decreases from 3.97
to 1.56 %. |
| Key Words:
Platoon stability, Information flow, Cooperative control, Preview control, V2V |
|
|
|
Corresponding Author.
Guangping Zeng , Email. 
Preview
Full text via DOI
Download Citation 
Print 
