The paper focuses on truck platooning control and its stability on highways, which has gained significant attention due to its potential to improve traffic efficiency and reduce energy consumption. A coupled longitudinal and lateral dynamics model for a single truck in a platoon is proposed to analyze truck’s kinematics and dynamics relationship under platooning. A control strategy based on distributed model predictive control (DMPC) is developed to compensate for communication delay. A bounded communication delay is synthesized to the proposed method, which employs a constant-spacing control policy to design a cost function for the control objective, by combining with state information to solve a nonlinear optimization problem for local optimal control. Based on one-way communication, the collaborative adaptive cruise control (CACC) platoon system is suitable for intelligent truck platooning on straight highways


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    Title :

    Delay compensation integrated distributed model predictive platooning control for intelligent trucks


    Contributors:
    Easa, Said (editor) / Wei, Wei (editor) / Zhao, Yanan (author) / Luo, Xiaoyang (author) / Zeng, Yi (author) / Gao, Li (author) / Zhang, Yu (author) / Zhang, Hao (author)

    Conference:

    Eighth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2023) ; 2023 ; Hangzhou, China


    Published in:

    Proc. SPIE ; 12790


    Publication date :

    2023-09-07





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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