Reference
Y. Wang, S. Lin, Y. Wang, B. De Schutter, and J. Xu, "Robustness analysis of
platoon control for mixed types of vehicles,"
IEEE
Transactions on Intelligent Transportation Systems, vol. 24, no. 1, pp.
331-340, Jan. 2023.
Abstract
Currently, with the development of driving technologies, driverless vehicles
gradually are becoming more and more available. Therefore, there would be a
long period of time during which self-driving vehicles and human-driven
vehicles coexist. However, for a mixed platoon, it is hard to control the
formation due to the existence of the manual vehicles resulting in weak
robustness and slow consensus rate on this system of platoons because of
uncertainties caused by human factors for manual vehicles. In order to solve
this problem, we establish models of mixed platoons with mixed types of
connected and automated vehicles (CAVs), human-driven vehicles (HDVs) and HDVs
without the vehicle awareness device (HDVWs). We subsequently design
H∞ controllers for the mixed platoons to
realize the formation consensus. In addition, we use the
H∞ norm of mixed platoons as the control
objective investigating the robustness of the control algorithms in alleviating
the platoon uncertainties. Furthermore, conditions are proved to maintain the
stability of the mixed platoons, and the stability is analyzed based on the
variation of the penetration rate of the manual vehicles. Finally, we formulate
conditions for parameters according to the definition of string stability to
avoid the collisions of vehicles. The results in this study are tested with
simulations and suggest that the presented controllers can ensure the consensus
of mixed platoons under uncertainties.
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BibTeX
@article{WanLin:23-034,
author = {Wang, Yixia and Lin, Shu and Wang, Yibing and De Schutter, Bart
and Xu, Jungang},
title = {Robustness Analysis of Platoon Control for Mixed Types of
Vehicles},
journal = {IEEE Transactions on Intelligent Transportation Systems},
volume = {24},
number = {1},
pages = {331--340},
month = jan,
year = {2023}
}