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
Delay compensation integrated distributed model predictive platooning control for intelligent trucks
Eighth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2023) ; 2023 ; Hangzhou, China
Proc. SPIE ; 12790
2023-09-07
Conference paper
Electronic Resource
English
Delay compensation integrated distributed model predictive platooning control for intelligent trucks
British Library Conference Proceedings | 2023
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