An adaptive approach to longitudinal platooning with heterogeneous vehicle saturations

Journal article (2019)

Authors

T. Tao Team Bart De Schutter - Mechanical, Maritime and Materials Engineering
V. Jain Student
S. Baldi Southeast University, Team Bart De Schutter - Mechanical, Maritime and Materials Engineering
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2019 T. Tao, V. Jain, S. Baldi
DOI: https://doi.org/10.1016/j.ifacol.2019.06.002
Cooperative adaptive cruise control Heterogeneous platoon Engine constraints Model reference adaptive control
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Published Date

2019

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

Abstract

Adaptive CACC strategies have been recently proposed to stabilize a platoon with non-identical and uncertain vehicle dynamics (heterogeneous platoon). This work proposes a method to augment such strategies with a mechanism coping with saturation constraints (i.e. engine constraints). In fact, in a platoon of heterogeneous vehicles, engine constraints might lead to loss of cohesiveness. The proposed mechanism is based on making the reference dynamics (i.e the dynamics to which the platoon should homogenize) ‘not too demanding’, by applying a properly designed saturation action. Such saturation action will allow all vehicles in the platoon not to hit their engine bounds. Cohesiveness will then be achieved at the price of losing some performance, which is in line with the state of art studies on this topic. Simulations on a platoon of 5 vehicles are conducted to validate the theoretical analysis.