Optimizing fuel-saving speed trajectory and distributed control for connected automatic vehicles platoon
In this paper,the fuel-saving speed trajectory optimization and the distributed control of connected automatic vehicle platoon are studied.Considering the fuel saving problem of heterogeneous connected automatic vehicles platoon,a receding horizon dynamic programming is adopted to solve the entire platoon's fuel-saving speed adapted to the changing road slope.In addition,in order to improve the flexibility of speed planning and adjustment,a quadratic spacing strategy based on the expected platoon speed is proposed.The distributed convex optimization algorithm based on the minimization of spacing error is used to solve the trajectory optimization problem,providing the optimal trajectory for all following vehicles.On this basis,a PID sliding mode controller with dual power reaching law is derived to control the speed of each following vehicle.The simulation results show that this method can ensure the internal stability and string stability of the vehicle with negligible space and speed disturbances.
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