Xie, Songtao; Hu, Junyan; Ding, Zhengtao; Arvin, Farshad; (2023) Distributed Cooperative Autonomous Driving of Intelligent Vehicles Based on Spring-Damper Energy System. In: Proceedings of the 2023 ICM – IEEE International Conference on Mechatronics. IEEE: Loughborough, UK. (In press).

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Abstract

Distributed cooperative control of autonomous vehicle platoons has been widely considered as a potential solution for reducing traffic congestion, increasing road capacity and improving traffic safety. However, in the real-world implementation, sudden communication loss will degrade cooperative adaptive cruise control to adaptive cruise control, which may bring negative influences on safety (i.e., increase the risk of collisions). To overcome this limitation, this paper innovatively applies a spring-damper energy system to construct a robust leader-following vehicle platoon system. The special design of the energy system ensures that the stability and safety of the platoon system are maintained in the event of a sudden degradation. Based on the proposed energy model, a distributed control protocol is developed. The distributed control protocol achieves speed synchronisation of vehicle platoon and ensures that the following distance is safe over dynamic communication networks. Finally, the effectiveness of the proposed control strategy is validated by simulation experiments.

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