Safety Spacing Control of Truck Platoon Based on Emergency Braking under Different Road Conditions
- Qian Zhao - Jilin University, State Key Laboratory of Automotive Simulation and Control, China ,
- Hongyu Zheng - Jilin University, State Key Laboratory of Automotive Simulation and Control, China ,
- Chuyo Kaku - Jiangsu Chaoli Electric Co. Ltd, China ,
- Feihao Cheng - Jilin University, State Key Laboratory of Automotive Simulation and Control, China ,
- Changfu Zong - Jilin University, State Key Laboratory of Automotive Simulation and Control, China
Journal Article
10-07-01-0005
ISSN: 2380-2162, e-ISSN: 2380-2170
Sector:
Topic:
Citation:
Zhao, Q., Zheng, H., Kaku, C., Cheng, F. et al., "Safety Spacing Control of Truck Platoon Based on Emergency Braking under Different Road Conditions," SAE Int. J. Veh. Dyn., Stab., and NVH 7(1):69-81, 2023, https://doi.org/10.4271/10-07-01-0005.
Language:
English
Abstract:
Vehicle platooning reduces fuel consumption, improves traffic throughput, and
achieves smaller intervehicle spacing which increases the probability of danger
during platoon braking. This article presents a sliding mode control based on
the safety spacing policy for longitudinal control of a connected truck platoon
with a focus on the predecessor following interactions. In particular, the
modified safety spacing policy considering the intervehicle braking information
communication delay, the sluggish nature of the brake actuator, the road
conditions on each vehicle as well as the vehicle motion state is proposed. On
this basis, an acceleration sliding mode controller is proposed, which takes
into consideration the spacing error and speed error of the intervehicle, and
the control error is zero, so as to obtain the expected acceleration of each
vehicle in the platoon. Simulation results of truck platooning with six trucks
using TurckSim have demonstrated the effectiveness of the proposed integral
sliding mode control method based on the improved safety distance policy under
emergency braking conditions. The results also demonstrated the safety of the
platoon when driving on the road where the adhesion coefficient changes.