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Technical Brief

# Simultaneous Longitudinal and Lateral Control of Vehicle Platoon Subject to Stochastic Communication Delays

[+] Author and Article Information
Liwei Xu

School of Mechanical Engineering,
Southeast University,
Nanjing 211189, China
e-mail: eagil123@hotmail.com

Weichao Zhuang

School of Mechanical Engineering,
Southeast University,
Nanjing 211189, China
e-mail: wezhuang@seu.edu.cn

Guodong Yin

School of Mechanical Engineering,
Southeast University,
Nanjing 211189, China
e-mail: ygd@seu.edu.cn

Guangmin Li

School of Mechanical Engineering,
Southeast University,
Nanjing 211189, China
e-mail: gml1993@yeah.net

Chentong Bian

School of Mechanical Engineering,
Southeast University,
Nanjing 211189, China
e-mail: bianchentong@163.com

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received May 24, 2018; final manuscript received November 13, 2018; published online December 19, 2018. Assoc. Editor: Jongeun Choi.

J. Dyn. Sys., Meas., Control 141(4), 044503 (Dec 19, 2018) (9 pages) Paper No: DS-18-1252; doi: 10.1115/1.4042031 History: Received May 24, 2018; Revised November 13, 2018

## Abstract

In addition to the longitudinal dynamics, the lateral control of the platoon can significantly affect its performance on winding road. This paper presents a platoon control framework on winding road for electric vehicles subject to stochastic communication delay and interference. The intervehicle spacing errors (ISEs) in both longitudinal and lateral directions are transformed to an arc-length-based form first. Then, the relationship between single vehicle dynamics and the ISEs is created based on the feedback linearization of the nonlinear system and the arc-length parametric representation of the directed curve. In this way, the whole platoon can be represented by three decoupled linear single-input and single-output systems, i.e., the longitudinal, lateral, and yaw. To assure the steady-state stability of the platoon on a winding road, a robust controller based on the $H∞$ method is designed to suppress the affection of the communication delay and interference. Also, sufficient conditions that achieve the transient stability of the platoon are derived. Simulations are conducted to verify the effectiveness of the proposed method. Results show that the proposed platoon control can realize the stability of the platoon as well as the supernal road traceability.

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## Figures

Fig. 3

The arc-length expression of the ith following vehicle: θi is the heading angle of the vehicle

Fig. 2

Schematic diagram of the ith vehicle dynamic model

Fig. 1

The predecessor-leader-following-type vehicle platoon on the winding road: (a) the predecessor-leader-following communication topology and (b) the coordinate of vehicle platoon on the winding road

Fig. 4

The structure of the proposed control system for the ith following vehicle

Fig. 5

The longitudinal acceleration of leading vehicle

Fig. 6

The delay and packet dropout of communication: (a) communication delay and (b) packet dropout

Fig. 9

The bode magnitude of the transfer function of adjacent vehicles

Fig. 10

The trajectories and heading angles of vehicles during the platooning control: (a) trajectories of vehicles in platoon and (b) heading angles of vehicles in platoon

Fig. 11

The velocities of vehicles during the platooning control: (a) longitudinal speeds, (b) lateral speeds, and (c) yaw rates

Fig. 12

The generalized forces and moment: (a) longitudinal forces, (b) lateral forces, and (c) moment

Fig. 7

The ISE in the proposed platoon control on winding road: (a) X-coordinate, (b) Y-coordinate, and (c) θ-coordinate

Fig. 8

The derivatives of ISE in the proposed platoon control on winding road: (a) X-coordinate, (b) Y-coordinate, and (c) θ-coordinate

## Errata

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