Multiple-Model Switching Control of Vehicle Longitudinal Dynamics for Platoon-Level Automation

• Published in: IEEE transactions on vehicular technology Vol. 65; no. 6; pp. 4480 - 4492
• Main Authors: Li, Shengbo Eben, Gao, Feng, Cao, Dongpu, Li, Keqiang
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.06.2016; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Acceleration; acceleration control; Aerodynamics; Automation; Automobiles; Automotive engineering; Autonomous vehicle; Control systems; Controllers; Dynamical systems; Dynamics; Engines; multiple model switching; platoon control; Robust control; Switching; Torque; Uncertainty; Vehicle dynamics; Vehicles; autonomous vehicle; Acceleration control; platoon control; multiple-model switching (MMS)
• ISSN: 0018-9545; 1939-9359
• DOI: 10.1109/TVT.2016.2541219

Platooning of autonomous vehicles has the potential to significantly benefit road traffic. This paper presents a new robust acceleration tracking control of vehicle longitudinal dynamics toward platoon-level automation. Based on a multiple-model switching structure, this design divides the large uncertainties of vehicle dynamics into small uncertainties and, accordingly, develops multiple robust controllers for the multiple-model set. The switching control system automatically selects the most appropriate candidate controller into the loop, according to the errors between current vehicle dynamics and multiple models. This technique offers more consistent and approximately linear node dynamics for upper level platoon control, even under relatively large vehicle uncertainties. Simulation comparison with a sliding model controller and a fixed H-infinity controller is conducted for a passenger car to demonstrate the enhanced robustness of the switching control method. The experimental test for the same car is performed for further validation.