This paper studies the vehicle platoon control problem for third-order heterogeneous vehicles with communication delay. It proposes a linear consensus control protocol with communication delay to maintain the stability of a heterogeneous vehicle platoon moving along a straight road, utilizing a predictive spacing strategy and assuming a lead vehicle with constant velocity. A linear heterogeneous state-space model is established for each vehicle and then a linear consensus control protocol is designed to keep equal spacing between any adjacent vehicles while maintaining the desired longitudinal velocity of the entire platoon. Through a linear transformation, the platoon consensus problem is equivalently transformed into a partial stability problem of a corresponding system with delay. The stability of the vehicle platoon with communication delay is analyzed by Lyapunov-Krasovskii functional method and the stability conditions are obtained. Finally, numerical simulation results demonstrate the effectiveness of the proposed platoon control scheme with communication delay.
Vehicle Platoon Control with Communication Delay
Lect. Notes Electrical Eng.
International Conference on Artificial Intelligence and Autonomous Transportation ; 2024 ; Beijing, China December 06, 2024 - December 08, 2024
The Proceedings of 2024 International Conference on Artificial Intelligence and Autonomous Transportation ; Chapter : 14 ; 128-136
2025-03-28
9 pages
Article/Chapter (Book)
Electronic Resource
English
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