| DISTRIBUTED FORMATION CONTROL OF HOMOGENEOUS
VEHICLE PLATOON CONSIDERING VEHICLE DYNAMICS |
| Liwei Xu, Weichao Zhuang, Guodong Yin, Chentong Bian |
| Southeast University |
|
|
|
|
|
|
|
| ABSTRACT |
|
Vehicle dynamics plays a significant role on the formation of a vehicle platoon, especially at high speed
condition. This paper proposes a distributed platoon formation framework for homogeneous autonomous vehicles which takes
the vehicle dynamics into consideration. The boundaries of vehicle stability are firstly calculated by considering both lateral
dynamics and actuator saturation. By combining the stability boundaries with multi-objective flocking (MOF) algorithm, a
distributed formation controller is designed, which can form the vehicle platoon with high cruising speed steadily and rapidly.
In addition, a low-level tracking controller is proposed to constitute a hierarchical control architecture which can achieve
stable and accurate formation of platoon. Simulation results show the proposed platoon formation controller achieves safe,
stable and rapid platoon formation than the traditional MOF-based formation controller which does not consider the vehicle
dynamics. |
| Key Words:
Platoon formation control, Homogeneous system, Vehicular dynamic constraints, Autonomous vehicle |
|
|
|
Corresponding Author.
Guodong Yin , Email. 
Preview
Full text via DOI
Download Citation 
Print 
