Trajectory Tracking Control for Connected Vehicle Platoon under the Curved Road

Abstract

This study addresses the conundrum of the trajectory tracking control for a connected vehicle (CV) platoon on the straight road and curved road. To be specific, the communication topology of bidirectional leader-follower is used to describe the vehicles' communication connection in the vehicle- vehicle/vehicle- to-infrastructure (V2X) environment. Then, a nonlinear state feedback control algorithm for follower vehicles is put forward through merging the phenomenon of car-following interactions, the spacing error, velocity difference and angular difference in relation to the leader vehicle. The proposed algorithm's stability is verified by means of Lyapunov technique. And then, simulation experiments under two scenarios: the leader vehicle runs on the straight road and curved road, respectively, and the followers run after the leader vehicle. The numerical simulation results prove the effectiveness of the proposed control algorithm.