TY  - JOUR
PY  - 2024//
TI  - Optimal control strategy for traffic platoon longitudinal coordination around equilibrium state enabled by partially automated vehicles
JO  - Transportation research part C: emerging technologies
A1  - Yuan, Runze
A1  - Yu, Hao
A1  - Zhang, Guohui
A1  - Ma, Tianwei
A1  - Xu, Ningshou
SP  - e104463
EP  - e104463
VL  - 159
IS  - 
N2  - This paper presents an internal model-Kalman filtering-based optimal hybrid feedforward/feedback control strategy for traffic platoon control coordination enabled by SAE Automation Level 2 or Level 3 vehicles, i.e., partially automated vehicles (PAVs). Based on the Helly linear car-following model, a PAV platoon is established. Taking each vehicle's characteristic polynomial as the dominant internal model polynomial, an augmented system state model with filtered inputs is formed, and then both the system states and the external disturbance/internal perturbation from previous vehicle can be estimated by a delicately designed Kalman filter. By using a linear quadratic regulation approach, a distributed hybrid optimal feedforward/feedback controller utilizing the local estimated states is constructed to achieve a practically decoupled platoon regulation around an equilibrium state. String stability of the control system thus obtained is further analyzed. Finally, extensive numerical simulations verified the theoretical analysis in decoupling between successive vehicles, in suppressing the influence of various external disturbances, and in maintaining string stability.<p />  <p>Language: en</p>
LA  - en
SN  - 0968-090X
UR  - http://dx.doi.org/10.1016/j.trc.2023.104463
ID  - ref1
ER  -