Research on Longitudinal Following Control of Platoon Based on Nonlinear PID

Liu, Hongxiang; Chu, Delin; Wei-feng, Peng; Lü, Liping; Peng, Fei

doi:10.4271/2020-01-5206

Cited by 3 publications

(2 citation statements)

References 7 publications

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“…Researchers have proposed different control techniques for platoon control. These techniques are used for various purposes such as platoon longitudinal and lateral control, platoon (string) stability, and platoon coordination [12][13] [14]. The control of the vehicle in a platoon is the primary responsibility of the autopilot module.…”

Section: A Platoon Maneuvers Control Objectivementioning

confidence: 99%

Platoon Transitional Maneuver Control System: A Review

et al. 2021

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Connectivity and autonomy are considered two of the most promising technologies to improve mobility, fuel consumption, travel time, and traffic safety in the automated transportation industry. These benefits can be realized through vehicle platooning. A vehicle platoon is composed of a group of connected automated vehicles (CAVs) traveling together at consensual speed, following the leading vehicle (leader) while maintaining a prespecified inter-vehicle distance. This paper reviews the different existing control techniques associated with the transitional platoon maneuvers such as merge/split and lane change. Different longitudinal and lateral vehicle dynamics that are mainly used in the transitional platoon maneuvers are discussed. The most used control algorithms for both longitudinal and lateral control used for transitional platoon maneuvers are reviewed and the advantages and limitations of each control strategy are discussed. The most recent articles on platoon control maneuvers have been analyzed based on the proposed control algorithm, homogeneously or heterogeneously of platoon members, type of platoon maneuver, the aim of control problem, type of implementation, and used simulation tools. This paper also discusses different trajectory planning techniques used in lateral motion control and studies the most recent research related to trajectory planning for automated vehicles and summarizes them based on the used trajectory planning technique, platoon or/and lane change, the type of traffic, and the cost functions. Finally, this paper explores the open issues and directions for future research.

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Section: A Platoon Maneuvers Control Objectivementioning

confidence: 99%

Platoon Transitional Maneuver Control System: A Review

et al. 2021

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“…There are also various previous studies that have already explored the use of PIDbased longitudinal controllers, both within platooning scenarios and in the broader context of autonomous vehicles [35,36]. The novelty of this research lies in the adoption of a nested architecture within the proposed controller.…”

Section: Introductionmentioning

confidence: 99%

PID-Based Longitudinal Control of Platooning Trucks

Shaju,

Southward,

Ahmadian

2023

Machines

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This article focuses on the development and assessment of a PID-based computationally cost-efficient longitudinal control algorithm for platooning trucks. The study employs a linear controller with a nested architecture, wherein the inner loop regulates relative velocities while the outer loop governs inter-vehicle distances within platoon vehicles. The design of the proposed PID controller entails a comprehensive focus on system identification, particularly emphasizing actuation dynamics. The simulation framework used in this study has been established through the integration of TruckSim® and Simulink®, resulting in a co-simulation environment. Simulink® serves as the platform for control action implementation, while TruckSim® simulates the vehicle’s dynamic behavior, thereby closely replicating real world conditions. The significant effort in fine-tuning the PID controller is described in detail, including the system identification of the linearized longitudinal dynamic model of the truck. The implementation is followed by an extensive series of simulation tests, systematically evaluating the controller’s performance, stability, and robustness. The results verify the effectiveness of the proposed controller in various leading truck operational scenarios. Furthermore, the controller’s robustness to large fluctuations in road grade and payload weight, which is commonly experienced in commercial vehicles, is evaluated. The simulation results indicate the controller’s ability to compensate for changes in both road grade and payload. Additionally, an initial assessment of the controller’s efficiency is conducted by comparing the commanded control efforts (total torque on wheels) along with the total fuel consumed. This initial analysis suggests that the controller exhibits minimal aggressive tendencies.

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A Review of Research on Longitudinal Control of Intelligent Vehicles Based on Drive/Brake by Wire

Shi,

Qian,

Chadia

et al. 2024

WEVJ

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In recent years, with the rapid innovation of science and technology, wire control technology, as a key technology, has achieved the transmission control of vehicles through the form of “electrical signals”, which has become an important foundation for realizing the high degree of intelligence of vehicles. This paper provides a comprehensive overview of the wire control technology, its application and longitudinal control strategy, and focuses on the longitudinal control technology of intelligent vehicles based on drive/brake by wire. The specific content includes five parts: first, the principles and characteristics of wire control technology and its application in intelligent vehicles are introduced; then, two commonly used longitudinal control strategies are described; then, the application of classical control technologies (such as PID, MPC, and sliding-mode control) in the longitudinal control of intelligent vehicles is discussed, including their working principles, characteristics and related research; subsequently, the AI control technology (deep reinforcement learning) is presented in the longitudinal control of intelligent vehicles, discussing its theoretical basis, the current status of algorithm research, control methods, and practical applications, etc.; finally, the paper summarizes the advantages and disadvantages of the classical control technology and AI control technology, and looks forward to the application and development prospects of these two control technologies in the control of intelligent vehicles.

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Research on Longitudinal Following Control of Platoon Based on Nonlinear PID

Cited by 3 publications

References 7 publications

Platoon Transitional Maneuver Control System: A Review

Platoon Transitional Maneuver Control System: A Review

PID-Based Longitudinal Control of Platooning Trucks

A Review of Research on Longitudinal Control of Intelligent Vehicles Based on Drive/Brake by Wire

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