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| Quick Startup Control of a Platoon of Vehicles Based on Optimal Theory |
| XIE Qiang-De-a, YANG Ming-a, WANG Bing-a, WANG Chun-Xiang-b |
| (a.School of Electronic, Information and Electrical Engineering; b.School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China) |
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Abstract A coordination methodology based on optimal control was proposed for platoons of vehicles to reduce the time passing through the intersection. The linear model of the platoon was derived and can be of overlapping interconnected subsystem. By decomposing the original system model via an appropriate input/state expansion, an expand system model was obtained. By applying the optimal output tracking control algorithm to the expand system model and by choosing the weight matrixes according to the safe distance, the optimal control rate was acquired, and then the original system control rate was obtained by contracting back. The method can have the platoon achieve the target cruising speed as soon as possible and guarantee the safety of vehicles. The application results of the controller illustrate the effectiveness of the proposed methodology.
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Received: 02 September 2010
Published: 29 July 2011
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