| Local Disturbance Cooperative Control of Heterogeneous Vehicle Platoon Based on Situation Assessment
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| Ting Fang 1, Qidong Wang 1,2, Linfeng Zhao 1, Wuwei Chen 1, Bixin Cai 1 |
1School of Automotive and Traffi c Engineering , Hefei University of Technology
2School of Mechanical Engineering , Hefei University |
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| ABSTRACT |
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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 eff ectively
improve the stability and safety of the platoon. |
| Key Words:
Vehicle platoon · External disturbances · Safety of the intended functionality · Stability situation assessment · Improved active disturbance rejection controller (IADRC) |
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Corresponding Author.
Linfeng Zhao , Email. 
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