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Collaborative control of the autonomous platoon poses significant theoretical and technical challenges. The processes of the platoon collaborative control need to deal with the discrete strategies switching and handle the continuous dynamic behavior of the vehicles. While, the platoon control system exhibits both continuous and discrete dynamic behavior, it can be modeled by a hybrid automaton of collaborative strategies. In this paper, a collaborative strategies hybrid automaton is applied to implement platoon cooperative control. Firstly, A MPC controller is set up to generate the trajectories of the control parameters. Afterwards, constructing the collaborative strategies hybrid automaton to implement the transition between different collaborative strategies (such as cruise, follow, merge and split). The prominent advantage of the proposed approach is that it can deal with the continuous and the discrete dynamic simultaneously to keep the whole system functioning well in different traffic condition. To validate the proposed approach, some simulations are conducted using the Stateflow tool box in SIMULINK, and the performance of the proposed method is verified.

Hybrid system design for platoon collaborative strategies