Robust following maneuver Design in a Simulated Autonomous Platooning Control System

摘要

Intelligent vehicle highway system (IVHS) have drawn much concern since they are assumed to be safe and effective methods to meet the increasing traffic demand without building more roads and resultant problems such as traffic accidents, traffic congestion and air pollution. A platoon of closely spaced vehicles is one of the important issues in IVHS. The advantages of the platooning system are increased safety and highway capacity mainly resulting from designing relevant following maneuver according to the platoon leader to form reasonably large platoons (five or more vehicles). In this paper, in order to simulate a platoon driving process, the vehicle dynamics as well as the safety distance policy are analyzed, and the following spacing controller is designed by applying fuzzy sliding mode control method into the spacing maintained between vehicles within the platoon. The proposed controller guarantees that vehicles in the platoon follow one another quickly and stably. Moreover, the achieved platoon stability is proven to be robust with respect to vehicle parameter uncertainties and unknown time varying disturbance. A seven vehicle platoon simulations illustrate the good performance of the proposed controller.