Volume 23 Issue 1
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Article Navigation >  Journal of Traffic and Transportation Engineering  > 2023  >  23(1): 256-266
WU Chao-zhong, YANG Xin-wei, HE Yi, LU Xiao-yun. Cooperative control system of truck platoon with heterogeneous dynamics under feedforward multi-source information[J]. Journal of Traffic and Transportation Engineering, 2023, 23(1): 256-266. doi: 10.19818/j.cnki.1671-1637.2023.01.019
Citation: WU Chao-zhong, YANG Xin-wei, HE Yi, LU Xiao-yun. Cooperative control system of truck platoon with heterogeneous dynamics under feedforward multi-source information[J]. Journal of Traffic and Transportation Engineering, 2023, 23(1): 256-266. doi: 10.19818/j.cnki.1671-1637.2023.01.019
shu

Cooperative control system of truck platoon with heterogeneous dynamics under feedforward multi-source information

doi: 10.19818/j.cnki.1671-1637.2023.01.019
  • 1.

    Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430063, Hubei, China

  • 2.

    Department of California Partners for Advanced Transportation Technology, University of California, Berkeley CA 94804, California, USA

Funds:

National Natural Science Foundation of China 52072292

More Information
  • Author Bio:

    WU Chao-zhong(1972-), male, professor, PhD, wucz@whut.edu.cn

    HE Yi(1986-), male, associate professor, PhD, heyi@whut.edu.cn

  • Received Date: 2022-08-03
    Available Online: 2023-03-08
  • Publish Date: 2023-02-25
    Abstract
  • A controller design method for the heterogeneous cooperative adaptive cruise system was proposed to deal with the problems of reduced system string stability, internal stability, and platoon coupling caused by the heterogeneity of truck platoon dynamics. A closed-loop coupling system was established for the truck platoon with heterogeneous dynamics under the feedforward multi-source information. Considering the heterogeneous saturation problem of engine actuators in a truck platoon composed of heterogeneous vehicle models, the engine saturation and state constraints were established. Based on the upper cooperative controller, a nonlinear control model for the lower heterogeneous engine torque output was built to control the real vehicle models in the vehicle dynamics simulation software TruckSim. An energy consumption model of vehicles based on the three-dimensional fuel characteristic map was constructed to calculate the real-time fuel consumption and analyze the energy saving of vehicles. By the frequency-domain analysis method and the known heterogeneous dynamics parameters, the gains of the controller for the cooperative adaptive cruise system were quantitatively calibrated to guarantee that the string stability conditions were satisfied. Analysis results show that compared with the controller with homogeneous dynamics, the controller for the heterogeneous cooperative adaptive cruise system is able to keep the distance error within the range of -0.01-0.15 m, better than the range of -0.3-0.5 m under the action of a homogeneous controller. In addition, when the leading vehicle keeps a constant velocity, the convergence to the same driving state can be achieved by all following vehicles immediately. The convergence performance is better than that of the homogeneous cooperative adaptive cruise system. The maximum fuel-saving rate of the truck platoon is up to 8.15%. As the time headway reduces to 0.5 s, the maximum average fuel-saving rate is 8.10%. Thus, it can be seen that the heterogeneous control system under the feedforward multi-source information is capable of effectively reducing the propagation of vehicle state errors. The designed cooperative control system for the truck platoon with heterogeneous dynamics under the feed-forward multi-source information is able to enhance the string stability of the platoon and guarantee the fuel economy of the system.

     

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