This research proposes a predictive lane-changing control system for platoon based on cloud control system(CPPLC),Which is designed to improve the safety,economy,and driving efficiency of a platoon.The system construc...This research proposes a predictive lane-changing control system for platoon based on cloud control system(CPPLC),Which is designed to improve the safety,economy,and driving efficiency of a platoon.The system constructs a vehicle-cloud hierarchical control architecture,with the cloud as the decision-making layer,which collaboratively optimizes the longitudinal acceleration and lateral lane-changing decisions of the platoon based on a model predictive control framework to improve the comprehensive performance of platoon driving.The vehicle is the execution layer,which cooperates with the decision-making in the cloud to generate the platoon driving trajectory and carry out tracking control to ensure the safety of platoon driving.The proposed system is evaluated based on a joint simulation platform consisting of Sumo,Matlab/Simulink,and Trucksim,and the results show that the system can realize the improvement of the economy and driving efficiency while ensuring the safety compared with the conventional microscopic driving model.展开更多
基金supported by the National Key R&D Program of China(2021YFB2501000)and the Joint R&D Project with Weichai Power Co.,Ltd.
文摘This research proposes a predictive lane-changing control system for platoon based on cloud control system(CPPLC),Which is designed to improve the safety,economy,and driving efficiency of a platoon.The system constructs a vehicle-cloud hierarchical control architecture,with the cloud as the decision-making layer,which collaboratively optimizes the longitudinal acceleration and lateral lane-changing decisions of the platoon based on a model predictive control framework to improve the comprehensive performance of platoon driving.The vehicle is the execution layer,which cooperates with the decision-making in the cloud to generate the platoon driving trajectory and carry out tracking control to ensure the safety of platoon driving.The proposed system is evaluated based on a joint simulation platform consisting of Sumo,Matlab/Simulink,and Trucksim,and the results show that the system can realize the improvement of the economy and driving efficiency while ensuring the safety compared with the conventional microscopic driving model.
