This paper investigates the problem of fuel-efficient and safe control of autonomous vehicle platoons. We present a two-part hierarchical control method that can guarantee platoon stability with minimal fuel consumpti...This paper investigates the problem of fuel-efficient and safe control of autonomous vehicle platoons. We present a two-part hierarchical control method that can guarantee platoon stability with minimal fuel consumption. The first part vehicle controller is derived in the context of receding horizon optimal control by constructing and solving an optimization problem of overall fuel consumption. The Second part platoon controller is a complementation of the first part, which is given on the basis of platoon stability analysis. The effectiveness of the presented platoon control method is demonstrated by both numerical simulations and experiments with laboratory-scale Arduino cars.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.61273107 and 61573077)Dalian Leading Talent(Grant No.841252)
文摘This paper investigates the problem of fuel-efficient and safe control of autonomous vehicle platoons. We present a two-part hierarchical control method that can guarantee platoon stability with minimal fuel consumption. The first part vehicle controller is derived in the context of receding horizon optimal control by constructing and solving an optimization problem of overall fuel consumption. The Second part platoon controller is a complementation of the first part, which is given on the basis of platoon stability analysis. The effectiveness of the presented platoon control method is demonstrated by both numerical simulations and experiments with laboratory-scale Arduino cars.
