Distributed Vehicle Platoon Control with Leader Selection Strategy
Zikai Ouyanga, Zhicheng Lib, Shibo Chena, Zaiyue Yanga
- aSouthern University of Science and Technology,Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering, and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Shenzhen,China,518055
- bSouthern University of Science and Technology,Academy for Advanced Interdisciplinary Studies,Shenzhen,P. R. China,518055
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Abstract
This paper investigates the control problem of vehicle platoon with leader selection strategy. The current research on vehicle platoon control is based on the leader-follower communication structure. Under such structure, each follower tracks the state of its front vehicle to maintain a proper distance and form a platoon. However, the disadvantage of this fixed communication structure is that followers are short of capacity of resisting disturbance when the first vehicle (FV) of platoon is disturbed. To solve this problem, a vehicle platoon model where each follower is able to take any front vehicle as its leader is proposed. Based on this model, the corresponding controller and leader selection strategy are designed. That is, first, a controller considering the string stability of vehicle platoon with various communication topologies is designed; then, each follower changes its connecting vehicle in the communication link to reduce the impact of disturbance on FV when FV suddenly slows down or speeds up. The simulation results show the effectiveness of the control method and the strategy.