Abstract
Connected and automated vehicles (CAVs) have attracted tremendous interests worldwide. Four-Wheel-Independent-Drive Electric Vehicles (FWID EVs) have the potential of improving vehicle handling performance and energy consumption. In this paper, an integrated vehicle-following control scheme for FWID EVs with Vehicle-to-Everything (V2X) communication capability is proposed to account for nonideal communication such as time-varying delays and packet dropouts. A packet dropout compensator is put forward to compensate for V2X information loss. A longitudinal controller with a delay compensator is then synthesized and integrated with a lateral model predictive controller to enable vehicle-following control. The stability of the proposed controller is validated theoretically and experimentally under comprehensive driving scenarios through Hardware-In-the-Loop tests. The results demonstrate that the proposed controller has good vehicle-following performance against nonideal V2X communication. This attests to its competency for being used in vehicle platoon control.
| Original language | English |
|---|---|
| Pages (from-to) | 3648-3659 |
| Number of pages | 12 |
| Journal | IEEE Transactions on Vehicular Technology |
| Volume | 71 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 1 Apr 2022 |
Keywords
- Connected and automated vehicles
- delay compensator
- four-wheel-independent-drive electric vehicles
- model predictive control
- nonideal V2X communication
- vehicle-following control
