Integrated Longitudinal and Lateral Networked Control System Design for Vehicle Platooning

Area of Science:

• Control Engineering
• Automotive Engineering
• Wireless Communication Systems

Background:

• Vehicle platooning offers potential benefits in traffic efficiency and fuel economy.
• Robust control strategies are essential for safe and reliable platooning operations, especially considering communication constraints.
• Integrated longitudinal and lateral control is crucial for maintaining vehicle formation and stability.

Purpose of the Study:

• To propose an integrated longitudinal and lateral control approach for vehicle platooning.
• To ensure string stability and robust platoon control under various constraints.
• To develop a control system validated through simulation.

Main Methods:

• Longitudinal control using Lyapunov functions and BMI conditions for speed and distance regulation.
• Lateral control employing a multi-model fuzzy controller designed with LMI conditions.
• Consideration of actuator saturation and communication constraints in control design.
• Validation using the CarSim software package.

Main Results:

• Sufficient stability conditions for longitudinal control were formulated in BMI terms.
• String stability conditions were integrated for robust platoon control.
• A multi-model fuzzy controller effectively managed lateral vehicle control.
• The proposed integrated control strategy demonstrated effectiveness in simulations.

Conclusions:

• The proposed integrated control approach effectively addresses longitudinal and lateral dynamics for vehicle platooning.
• The method ensures string stability and robustness while considering practical constraints.
• The use of LMI and BMI conditions provides a computationally feasible design framework.
• Simulation results confirm the viability and effectiveness of the developed platooning control system.