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Tingfang Zhang,Qidong Wang,Linfeng Zhao,Wuwei Chen,Bixin Cai,Mingyue Yan 한국자동차공학회 2024 International journal of automotive technology Vol.25 No.2
In the longitudinal driving of a heterogeneous platoon, external disturbances of local vehicles can cause safety problemsof the intended functionality. Therefore, a cooperative control method based on situation assessment is proposed. First, theminimum safe distance is determined according to the state of adjacent vehicles. A novel situation assessment model isestablished to characterize the stability of the platoon. Vehicle spacing, speed, and acceleration are selected as evaluationindicators. Then, an improved active disturbance rejection controller (IADRC) is designed to improve platoon stabilitythrough feedback compensation control. In addition, considering the unnecessary continuous involvement of the IADRC,its intervention time is determined by the situation assessment results. Finally, simulation and hardware-in-the-loop (HIL)experiments are carried out under two communication topologies. The results show that the proposed method can eff ectivelyimprove the stability and safety of the platoon.