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Safety Spacing Policy and Cruise Control Strategy for Heterogeneous Platoon to Enhance Safety and Efficiency
| 题名： | Safety Spacing Policy and Cruise Control Strategy for Heterogeneous Platoon to Enhance Safety and Efficiency |
| 正文语种： | eng |
| 作者： | Yang Liu;Congling Shi;Weibin Zhang |
| 作者单位： | China Academy of Safety Science and Technology Beijing Key Laboratory of Metro Fire and Passenger Trans-portation Safety Beijing 100012 China;China Academy of Safety Science and Technology Beijing Key Laboratory of Metro Fire and Passenger Trans-portation Safety Beijing 100012 China;Institute of Transportation Studies Univ. of California at Berkeley Berkeley CA 94804 |
| 关键词： | Heterogeneous platoon; String stability; Spacing policy; Cooperative adaptive cruise control (CACC); Intelligent connected vehicles |
| 摘要： | Automated platooning is gaining increasing attention because it is regarded as a highly efficient transportation mode to solve traffic congestion problem. Although different intraplatoon spacing strategies have been proposed, little research has focused on quantitative optimization of spacing policy from a safety perspective considering differences between automated and human-driven platooning. In addition, there still is a lack of comprehensive research into string stability and delay robustness of cooperative adaptive cruise control (CACC) for heterogeneous platoons. This paper proposes a quantitative spacing policy in quadratic form based on safety index optimization under hard braking scenarios. The expected value of collision severity is taken as the main index for spacing optimization. The CACC strategy then tracks the proposed spacing considering fluctuation of multitime delays and uncertainty of vehicle dynamics. Based on sliding model control theory and frequency stability criteria, the sufficient conditions satisfying CACC stability and string stability were given. The robustness of the CACC system considering communication latency fluctuation was shown using simulation results. Compared with the existing control strategy, the proposed control strategy is more robust to communication latency, and string stability can be guaranteed. The proposed spacing strategy effectively can reduce collision risk, and the proposed CACC strategy improves latency robustness on the premise of ensuring string stability. |
| 出版年： | 2023 |
| 期刊名称： | Journal of Transportation Engineering |
| 卷： | 149 |
| 期： | 4 |
| 页码： | 04023008.1-04023008.12 |
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