Nonlinear Dynamic Characteristics of the CACC Vehicular Platoon Under Critical Maneuvering Conditions
In vehicular platoon control research,there is currently little consideration of maneuvering conditions under which the tire force approaches the adhesion limit.Thus,the corresponding platoon control strategy may not be able to meet the safety and stability requirements of the platoon under extreme conditions,such as low adhesion and high-speed close-range following.Therefore,this study aims to explore the nonlinear dynamic characteristics of the cooperative adaptive cruise control(CACC)platoon system,which has good application prospects and is widely discussed in the literature,under tire force adhesion limit maneuvering conditions to provide a theoretical basis for the design of control strategies of the CACC platoon under critical maneuvering conditions.Considering the nonlinear saturation characteristics of the tire force,an integrated platoon-vehicle nonlinear dynamic system is established.Based on the parameter space analysis of control gains,the equilibrium stability and head-to-tail string stability characteristics of the platoon under extreme conditions are studied.The results show that the stability design range of control gains for a platoon under extreme conditions is limited.Based on the adaptive cruise control(ACC)platoon,adding the following control of the leading vehicle to become a CACC platoon results in a smaller stability design range of control gains for equilibrium stability,but it can greatly increase the design range for head-to-tail string stability.The string stability requirement is more stringent than is the equilibrium stability requirement under extreme conditions,and the parameter space for string stability is significantly smaller than that for equilibrium stability.Compared with the ACC platoon,the CACC platoon has strong adaptability and disturbance resistance to the variations of vehicle speed and road adhesion under extreme conditions.Hence,it presents obvious advantages.
automotive engineeringvehicular platooncooperative adaptive cruise controlnon-linear dynamicsstability analysisplatoon control
NETL
NSTL
万方数据
