Connected Automated Vehicle Platoon Control With Input Saturation and Variable Time Headway Strategy

The rationality of the spacing strategy directly affects automated vehicle safety and road utilization. It is necessary to consider practical actuator constraints in vehicle platoon control systems to ensure the security and driving comfort. In this paper, an important actuator constraint and a more...

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Bibliographic Details
Published in:IEEE transactions on intelligent transportation systems 2021-08, Vol.22 (8), p.4929-4940
Main Authors: Chen, Jianzhong, Liang, Huan, Li, Jing, Lv, Zekai
Format: Article
Language:English
Subjects:
Actuators
Algorithms
Automation
Connected automated vehicle
consensus control
Delays
Headways
input saturation
Network topology
Platooning
Roads
Saturation
Stability analysis
Switches
Theorems
Topology
Vehicle safety
VTH strategy
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Summary:The rationality of the spacing strategy directly affects automated vehicle safety and road utilization. It is necessary to consider practical actuator constraints in vehicle platoon control systems to ensure the security and driving comfort. In this paper, an important actuator constraint and a more effective spacing strategy are embedded into the connected automated vehicle platoon control. A new consensus-based control approach with the input saturation and variable time headway (VTH) spacing strategy is proposed. The homogeneous time-varying communication delays are included into the consensus algorithm. By employing the Lyapunov-Krasovskii theorem and the Lyapunov-Razumikhin theorem, the global asymptotic stability conditions of the system under fixed topology and switching topology are derived, respectively. Numerical simulation results demonstrate the effectiveness of the proposed approach and the necessity of introducing the input saturation and VTH spacing strategy.
ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2020.2983468