Motivated by the need to study platooning under heterogeneous traffic conditions, we study a platoon comprising two classes of vehicles: (i) connected cars (CC) equipped with vehicle-to-vehicle communication, (ii) human-driven motorcycles (HDM) that cannot communicate with surrounding vehicles. While the cars can be controlled through appropriate inputs to achieve platooning, the dynamics of the motorcycles are governed solely by the driver’s action. We use control- and graph-theoretic tools to design decentralised controllers for the connected cars, that can ensure safe spacing despite the presence of the motor-cycles. We first model the longitudinal dynamics of each CC and HDM individually, and then capture the information exchange required for platooning using a two-layer graph structure. Using the dynamics model and the graph-theoretic model, we design a controller, synthesised by solving the parametric Algebraic Riccati equation, for each CC so as to achieve a desired spacing in the platoon. The theoretical results are corroborated with numerical simulations.
Decentralised control of a mixed traffic platoon of connected cars and human-driven motorcycles
01.06.2022
650170 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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