A hybrid platoon stability control algorithm considering spatial-temporal convergence of driving states under communication interruption
MAN Zhongyun
WANG Jiangfeng
WANG Yu
LUO Dongyu
DONG Jiakuan
Abstract：This study addresses stability control issue for hybrid platoons of Connected and Automated Vehicles (CAV) and Manually Driven Vehicles (MDV) during communication disruptions. It considers a hybrid platoon based on the Predecessor-Leader Following topology (PLF) and Cooperative Adaptive Cruise Control (CACC) and constructs vehicle controllers for conditions of both normal and disrupted communication. Utilizing the Routh-Hurwitz stability criterion and frequency domain analysis meth-ods,a stability condition solution algorithm is designed to calculate the stability conditions of the con-trollers and MDV car-following model. Additionally,a smooth switching strategy between the two controllers is proposed. Case analysis demonstrates that the platoon can drive stably and safely,with the standard deviation change rate of each vehicle's speed being less than 1.8％,and the average accel-eration change and its average value both below 0.016m/s2. This indicates that the proposed stability control algorithm is highly effective,achieving spatial-temporal convergence of the driving states of individual vehicles and the platoon. For both acceleration and deceleration scenarios,the proposed con-troller switching strategy can reduce vehicle acceleration fluctuations by 37.1％ and 59.9％ respec-tively,significantly enhancing vehicle state stability during controller switching.
Keywords：intelligent transportationhybrid platooncommunication interruptionstability control algorithm
Publication Date：2024-08-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：11( 93-103 )