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Contribution to intelligent vehicle platoon control

Abstract : This PhD thesis is dedicated to the control strategies for intelligent vehicle platoon in highway with the main aims of alleviating traffic congestion and improving traffic safety. After a review of the different existing automated driving systems, the vehicle longitudinal and lateral dynamic models are derived. Then, the longitudinal control and lateral control strategies are studied respectively. At first, the longitudinal control system is designed to be hierarchical with an upper level controller and a lower level controller. For the upper level controller, a safety spacing policy (SSP) is proposed. It is shown that the proposed SSP can ensure string stability, traffic flow stability and improve traffic capacity. Then, a coordinated throttle and brake fuzzy controller (lower level controller) is designed, in which a logic switch is designed to coordinate the two actuators (throttle and brake pedals). Second, for the lateral control, a multi-model fuzzy controller is designed. And a hierarchical lateral control architecture is also proposed, which can effectuate flexible switch between different lateral operations. After that, the integration of the longitudinal controller and lateral controller is also studied. Finally, the estimation of vehicle states is discussed. A Kalman-Bucy filter is designed to estimate vehicle states in lateral dynamics. Moreover, a reduced scale multi-sensor intelligent vehicle prototype is also presented. The performances of the divers control algorithms proposed in this thesis have been tested in numerical simulations, and the first step experiments with the reduced scale vehicle prototype gave encouraging results
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Submitted on : Thursday, April 14, 2011 - 4:59:22 PM
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  • HAL Id : tel-00586081, version 1



Jin Zhao. Contribution to intelligent vehicle platoon control. Other. Ecole Centrale de Lille, 2010. English. ⟨NNT : 2010ECLI0010⟩. ⟨tel-00586081⟩



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