Open AccessDistance‐based formation control for multi‐lane autonomous vehicle platoons
Author(s) -
Zheng Yajun,
Wang Qingling,
Cao Dongpu,
Fidan Baris,
Sun Changyin
Publication year - 2021
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/cth2.12139
Subject(s) - platoon , control theory (sociology) , overtaking , controller (irrigation) , vehicle dynamics , yaw , control engineering , lyapunov function , computer science , engineering , control (management) , automotive engineering , nonlinear system , agronomy , civil engineering , physics , quantum mechanics , artificial intelligence , biology
This paper investigates the formation control of connected autonomous vehicle (CAV) platoons moving in multi lanes using distance‐based formation control techniques based on rigid graphs and V2V communication. A hierarchical architecture is proposed to decompose the cooperative control into velocity planning and vehicle dynamic control. A new velocity planning method is first developed via a distributed distance‐based formation controller so that each vehicle can keep platoon and change lane. Then, for the vehicle dynamics with nonlinearities and bounded disturbances, an adaptive controller is designed for regulating driving/braking torque to achieve the longitudinal velocity output of the velocity planner. The steering controller is designed to adjust the yaw angle of each vehicle to track and change lanes. Furthermore, stability analysis is conducted based on the Lyapunov theory. Finally, the applications of the proposed control designs to various of automated highway system (AHS) scenarios including lane‐change, curve lane and platoon overtaking, are simulated and numerically analysed to validate the effectiveness of theoretical results.