Research On Sliding-mode Control Of Intelligent And Connected Vehicle Platoon Based On Variable Spacing Policy

The intelligent and connected vehicle platoon has received substantially interests in the academic community due to its significant advantages in improving traffic capacity,reducing road pressure,and improving road safety.However,in practical applications,when faced with different requirements,inter-vehicle spacing need to be continuously optimized to improve driving safety of the vehicle platoon.In addition,a lot of factors have affected the inter-vehicle spacing policy.Therefore,from the driving requirement of the vehicle platoon control in different road environments,the variable spacing policy and the corresponding vehicle platoon control methods are proposed.In details,the main research work and contributions are as follows:1.For the problem of the vehicle platoon control with the nonlinear variable spacing policy,a quadratic spacing policy is developed according to human driving behavior.Then,the vehicle platoon model based on the variable spacing policy is presented.On this basis,a sliding mode based vehicle platoon control method with nonlinear dynamics is proposed,which can make vehicles drive in the desired platoon stably and effectively.2.For the problem of the vehicle platoon control at driving safety with variable spacing policy,the vehicle platoon model for driving safety is given,which combining with the road condition.Then,the variable spacing policy is designed in different road conditions.On this basis,a sliding mode algorithm with both the actuator saturation and external disturbances is presented,the vehicles can ensure the platoon safety under different road conditions.3.For the problem of the vehicle platoon control based on the adaptive variable spacing policy under different road conditions,the adaptive variable spacing policy combining with the minimum safe distance model is designed.On this basis,a sliding mode based vehicle platoon control method with prescribed tracking performance is proposed,which can make vehicle platoon maintain different inter-vehicle spacing under different road conditions.