Optimal Energy Consumption Control of Intelligent and Connected Truck Platoon Based on MPC
Aiming at the energy consumption problem of intelligent and connected truck platoons on highways,a double-layer control algorithm based on model predictive control is presented.The algorithm includes the speed plan-ning layer and the tracking control layer.In the speed planning layer,a linear energy conservation model is established to remove the nonlinear items in the dynamic model combined with the road topography and vehicle state,the planning speed of the platoon is obtained based on the linear model predictive control algorithm which designs the engine output power as the fuel consumption optimization index.To reduce the model uncertainty caused by the sim-plified model in the trajectory tracking layer,a robust model predictive control algorithm based on linear matrix ine-quality is adopted in the tracking control layer,which proposes a state feedback controller to track the optimal speed of the upper planning.Simulation results verify the feasibility and effectiveness of the presented two-layer control algo-rithm,which can ensure the safety and stability of truck platoons as well as optimal energy consumption control.
Truck platoon controlOptimal energy consumptionSpeed planningTrajectory trackingModel pre-dictive control
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