Sliding Mode Control for Vehicular Platoon based on V2V Communication

Handong Li, Ishita Gulati, Scott Stainton, Saleh A. Ali, Volker Pickert, Satnam Dlay

Abstract: Intelligent Transport Systems (ITS) aim to provide a safe, efficient and coordinated traffic system. Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) communication are both important components of the ITS. In this proposed study, the protocol and model for the V2V communication on-board unit (OBU) with assisted Cooperate-Adaptive Cruise Control (CACC) will be developed for platooning scenarios. In the vehicular platooning study, vehicle position technology is always the primary concern for the entire platoon system and the vehicle itself. Although Global Navigation Satellite System (GNSS) can provide position, navigation and timing (PNT) services, the accuracy is significantly degraded under dynamic environments. In order to obtain precise positioning information, this paper describes Inertial Measurement Unit (IMU)/GNSS data fusion to achieve a highly precise positioning solution. Such high precision of positioning is required where vehicles in a platoon arrangement drive at very high speed. An example of a fast driving platoon is presented in the Tracked Electric Vehicle (TEV) Project as described later in the paper. If the control rule is based only on radar and internal sensors it cannot maintain a stable string compliant with constant distance (CD) policy. With the help of V2V communication, the dynamic information of the lead vehicle can be broadcast to any neighboring vehicle within the platoon system. Thus, slide mode control (SMC) has been implemented in this paper and the Lyapunov function is established to analyze the stability of the string. As a result, the performance of the SMC is compared and analyzed through both simulation and field experiment. In the simulation experiment, five vehicles are designed in the platoon system and these vehicles can obtain the information from both the leading vehicle and the preceding vehicle. The results show that the following vehicles can reach the same velocity and acceleration as the leading vehicle in 5 seconds and the spacing error is less than 0.1m. In the field experiment, we implemented cart test with a reference lead vehicle in the platooning system. The cart has IMU on board to collect the acceleration information, and then the control rule is applied for post-processing. The practical results are in line with those from the simulated experiment.
Published in: Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019)
September 16 - 20, 2019
Hyatt Regency Miami
Miami, Florida
Pages: 2078 - 2089
Cite this article: Li, Handong, Gulati, Ishita, Stainton, Scott, Ali, Saleh A., Pickert, Volker, Dlay, Satnam, "Sliding Mode Control for Vehicular Platoon based on V2V Communication," Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019), Miami, Florida, September 2019, pp. 2078-2089.
https://doi.org/10.33012/2019.16887
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