Research On Cooperative Adaptive Cruise Strategy Based On Platooning Car-following Stability

As an extension of Adaptive Cruise Control(ACC)technology,Cooperative Adaptive Cruise Control(CACC)can achieve more convenient and fast acquisition of platooning members’ driving state information on the basis of vehicle-to-vehicle communication technology.The CACC platooning control in steady-state driving state is of great significance to the improvement of traffic efficiency and economy.The main factors that determine the performance of cooperative adaptive cruise control system are the setting of expected following distance and the design of vehicle speed control method.In order to improve the stability of vehicle distance under platooning control,this paper proposes a cooperative adaptive cruise control strategy based on potential field to improve Variable Time Headway(VTH)strategy and disturbance compensation model predictive control method.In this paper,firstly,an improved VTH strategy based on artificial potential field method is proposed to improve the real-time and accuracy of the desired distance.Firstly,the following errors of two leading vehicles are taken as reference to establish the potential field of the preceding vehicles,and the potential energy level of the vehicles in the potential field is discriminated by driving state analysis,which is finally implemented as the potential force acting on the controlled vehicle.By analyzing the potential field generated by multiple preceding vehicles,it is extended to the rear of the platooning.Finally,the direction and size of the comprehensive potential field are determined by normalization method,and the VTH strategy is improved.Through the joint simulation of Simulink and Carsim platform,the optimization effect of the improved strategy on the stability of distance tracking is verified.The results show that the repulsion potential field established according to the following error of the preceding vehicle can accelerate the response speed of the controlled vehicle,reduce the overshoot of the vehicle distance and improve the control accuracy of the vehicle distance of 0.667 m m.In the part of speed control algorithm,the objective optimization function is established with safety,car-following efficiency,ride comfort and energy consumption economy,and the model predictive control method based on disturbance compensation is designed with Extended State Observer(ESO),and the control effect of distance between vehicles is verified by algorithm comparison in MATLAB/Simulink-driving scenario designer simulation scene.Experimental results show that the distance between vehicles and the fluctuation of vehicle speed are reduced by 13.5% and 32.3% respectively after adding disturbance compensation,which proves that the algorithm improves the following stability.