Intelligent Bus Platoon Lateral and Longitudinal Control Method Based on Finite-Time Sliding Mode

Area of Science:

• Control Systems Engineering
• Automotive Engineering
• Robotics

Background:

• Intelligent vehicle platoons require precise longitudinal and lateral control for safety and efficiency.
• Existing control methods may face challenges in achieving rapid error convergence and robust stability.

Purpose of the Study:

• To propose a novel finite-time tracking control method for intelligent bus platoons.
• To enhance the convergence speed of longitudinal and lateral tracking errors.
• To ensure finite-time stability and string stability of the platoon.

Main Methods:

• Design of a distributed longitudinal and lateral finite-time sliding mode tracking control framework.
• Development of a nonsingular integral terminal sliding mode (NITSM) controller.
• Proposal of an adaptive power integral reaching law (APIRL) for finite-time convergence.
• Utilizing Lyapunov functions for stability analysis.

Main Results:

• The proposed NITSM-APIRL controller demonstrated effective finite-time tracking control for bus platoons.
• Simulation experiments on Trucksim/Simulink validated superior performance compared to existing methods.
• Real-world vehicle tests confirmed the method's practicability and robustness.

Conclusions:

• The developed finite-time sliding mode control strategy ensures rapid and stable platoon coordination.
• The method offers a practical solution for enhancing the performance of intelligent connected vehicles.
• This research contributes to the advancement of autonomous driving systems.