Reference:
Y. Wang,
S. Lin,
Y. Wang,
B. De Schutter, and
J. Xu,
"Robustness analysis of platoon control for mixed types of vehicles,"
IEEE Transactions on Intelligent Transportation Systems, vol.
24, no. 1, pp. 331-340, Jan. 2023.
Abstract:
Currently, with the development of driving technologies, driverless
vehicles gradually are becoming more and more available. Therefore,
there would be a long period of time during which self-driving
vehicles and human-driven vehicles coexist. However, for a mixed
platoon, it is hard to control the formation due to the existence of
the manual vehicles resulting in weak robustness and slow consensus
rate on this system of platoons because of uncertainties caused by
human factors for manual vehicles. In order to solve this problem, we
establish models of mixed platoons with mixed types of connected and
automated vehicles (CAVs), human-driven vehicles (HDVs) and HDVs
without the vehicle awareness device (HDVWs). We subsequently design
H∞ controllers for the mixed platoons to
realize the formation consensus. In addition, we use the
H∞ norm of mixed platoons as the control
objective investigating the robustness of the control algorithms in
alleviating the platoon uncertainties. Furthermore, conditions are
proved to maintain the stability of the mixed platoons, and the
stability is analyzed based on the variation of the penetration rate
of the manual vehicles. Finally, we formulate conditions for
parameters according to the definition of string stability to avoid
the collisions of vehicles. The results in this study are tested with
simulations and suggest that the presented controllers can ensure the
consensus of mixed platoons under uncertainties.