A Hierarchical Controller for Connected Truck Platoon: Analysis and Verification

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成果类型：

期刊论文

作者：

Li, Yongfu;Fan, Junhong;Huang, Longwang;Huang, Gang;Hua, Wei;...

通讯作者：

Li, YF

作者机构：

[Li, Yongfu; Huang, Longwang; Gao, Xinbo; Fan, Junhong] Chongqing Univ Posts & Telecommun, Sch Automat, Key Lab Intelligent Air Ground Cooperat Control Un, Chongqing 400065, Peoples R China.

[Huang, Gang] Zhejiang Univ, Sch Elect Engn, Hangzhou 310027, Peoples R China.

[Hua, Wei] Zhejiang Lab, Hangzhou 311121, Peoples R China.

[Wu, Wei] Chongqing Jiaotong Univ, Chongqing Key Lab Intelligent Integrated & Multidi, Chongqing 400074, Peoples R China.

[Wu, Wei] Changsha Univ Sci & Technol, Sch Traff & Transportat Engn, Changsha 410114, Peoples R China.

通讯机构：

[Li, YF ] C

Chongqing Univ Posts & Telecommun, Sch Automat, Key Lab Intelligent Air Ground Cooperat Control Un, Chongqing 400065, Peoples R China.

语种：

英文

关键词：

Delays;Vehicle dynamics;Kinematics;Aerodynamics;Numerical stability;Topology;Couplings;Stability criteria;Periodic structures;Biological system modeling;Truck platoon control;string stability;TruckSim;PreScan

期刊：

IEEE Transactions on Intelligent Transportation Systems

ISSN：

1524-9050

年：

2025

DOI：

10.1109/TITS.2025.3556465

基金类别：

National Natural Science Foundation of China [62273067, U1964202]; Natural Science Foundation of Chongqing [CSTB2022NSCQ-LZX0025]; Talent Program of Chongqing [cstc2024ycjh-bgzxm0037]; Science and Technology Research Program of Chongqing Municipal Education Commission [KJZD-M202300602]

机构署名：

本校为其他机构

院系归属：

交通运输工程学院

摘要：

This paper proposes a novel hierarchical controller for connected truck platoons. To this end, the predecessor following topology is used to characterize the communication connectivity between connected trucks. Then, a longitudinal efficient controller consisting of upper-level and lower-level controllers is proposed. In particular, the upper-level controller is designed based on the kinematic model to handle the car-following interactions between connected trucks and delays in communication and input. The lower-level controller comprises a feedforward and a feedback control law. The feedforwa...

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