Hybrid system design for platoon collaborative strategies

DOI

10.2991/icseee-15.2016.156How to use a DOI?

Keywords

hybrid system, hybrid automaton, MPC, Stateflow

Abstract

Collaborative control of the autonomous platoon poses significant theoretical and technical challenges. The processes of the platoon collaborative control need to deal with the discrete strategies switching and handle the continuous dynamic behavior of the vehicles. While, the platoon control system exhibits both continuous and discrete dynamic behavior, it can be modeled by a hybrid automaton of collaborative strategies. In this paper, a collaborative strategies hybrid automaton is applied to implement platoon cooperative control. Firstly, A MPC controller is set up to generate the trajectories of the control parameters. Afterwards, constructing the collaborative strategies hybrid automaton to implement the transition between different collaborative strategies (such as cruise, follow, merge and split). The prominent advantage of the proposed approach is that it can deal with the continuous and the discrete dynamic simultaneously to keep the whole system functioning well in different traffic condition. To validate the proposed approach, some simulations are conducted using the Stateflow tool box in SIMULINK, and the performance of the proposed method is verified.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Zichao Huang
AU  - Qing Wu
AU  - Jie Ma
PY  - 2016/04
DA  - 2016/04
TI  - Hybrid system design for platoon collaborative strategies
BT  - Proceedings of the 2015 4th International Conference on Sustainable Energy and Environmental Engineering
PB  - Atlantis Press
SP  - 893
EP  - 897
SN  - 2352-5401
UR  - https://doi.org/10.2991/icseee-15.2016.156
DO  - 10.2991/icseee-15.2016.156
ID  - Huang2016/04
ER  -