An Efficient Coordinated Observer LQR Control in a Platoon of Vehicles for Faster Settling Under Disturbances
The rapid proliferation of vehicles globally presents significant challenges to road transportation efficiency and safety, including accidents, emissions, energy utilization, and road management. Autonomous vehicle platooning emerges as a promising solution within intelligent transportation systems,...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-01-01
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| Series: | World Electric Vehicle Journal |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2032-6653/16/1/28 |
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| Summary: | The rapid proliferation of vehicles globally presents significant challenges to road transportation efficiency and safety, including accidents, emissions, energy utilization, and road management. Autonomous vehicle platooning emerges as a promising solution within intelligent transportation systems, offering benefits like reduced fuel consumption and emissions, and optimized road use. However, implementing autonomous vehicle platooning faces obstacles such as stability under disturbances, safety protocols, communication networks, and precise control. This paper proposes a novel control strategy coordinated Kalman observer–Linear Quadratic Regulator (CKO-LQR) to ensure platoon formation stability in the presence of disturbances. The disturbances considered include vehicle movements, sensor noise, and communication delays, with the leading vehicle’s movement serving as the commanding signal. The proposed controller maintains a constant inter-gap distance between vehicles despite the disturbances utilizing a coordinated Kalman observer to estimate preceding vehicle movements. A comparative analysis with conventional PID controllers demonstrates superior performance in terms of faster settling times and robustness against disturbances. This research contributes to enhancing the efficiency and safety of autonomous vehicle platooning systems. |
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| ISSN: | 2032-6653 |