Dynamic Cooperative Vehicle Platoon Control Considering Longitudinal and Lane-changing Dynamics

This paper presents a distributed cascade Proportional Integral Derivate (DCPID) control algorithm for the connected and automated vehicle (CAV) platoon considering the heterogeneity of CAVs in terms of the inertial lag. Furthermore, a real-time dynamic cooperative lane-changing model for CAVs, which can seamlessly combine the DCPID algorithm and the improved sine function is developed. The DCPID algorithm determines the appropriate longitudinal acceleration and speed of the lane-changing vehicle considering the speed fluctuations of the front vehicle on the target lane (TFV). In the meantime, the sine function plans a reference trajectory which is further updated in real time using the model predictive control (MPC) to avoid potential collisions until lane-changing is completed. Both the local and the asymptotic stability conditions of the DCPID algorithm are mathematically derived, and the sensitivity of the DCPID control parameters under different states is analyzed. Simulation experiments are conducted to assess the performance of the proposed model and the results indicate that the DCPID algorithm can provide robust control for tracking and adjusting the desired spacing and velocity for all 400 scenarios, even in the relatively extreme initial state. Besides, the proposed dynamic cooperative lane-changing model can guarantee an effective and safe lane-changing with different speeds and even in emergency situations (such as the sudden deceleration of the TFV).