State transition-based novel dynamic control algorithm for vehicle-following performance improvement

•A dynamic control algorithm based on state transition is proposed for vehicle following control.•Safe and efficient steady-following state is regarded as the optimization objective.•The absolute and relative braking modes can be flexibly chosen by the follower for safety control.•The following vehi...

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Veröffentlicht in:Applied mathematical modelling Jg. 110; S. 387 - 407
Hauptverfasser: Pan, Deng, Lu, Runzhi
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Elsevier Inc 01.10.2022
Schlagworte:
Behavior adjustment
Generalized velocity difference control
Hyperbolic function
Safe following distance
State transition
Synchronous control
Vehicle-following control
State transition
Generalized velocity difference control
Hyperbolic function
Vehicle-following control
Behavior adjustment
Safe following distance
Synchronous control
ISSN:0307-904X
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Zusammenfassung:•A dynamic control algorithm based on state transition is proposed for vehicle following control.•Safe and efficient steady-following state is regarded as the optimization objective.•The absolute and relative braking modes can be flexibly chosen by the follower for safety control.•The following vehicle can adjust its own behavior in safety, efficiency, and smoothness.•The synchronous control of velocity, acceleration, and inter-vehicle distance is well achieved. This study aims to improve the safety and efficiency of vehicle-following behavior through a smooth vehicle behavior adjustment process. A dynamic control algorithm based on state transition is proposed for the following vehicle to enable it to incorporate better behavioral adjustments. This algorithm organically integrates a new generalized velocity difference control with the velocity control based on hyperbolic function to exploit its advantages and avoid weaknesses. The new generalized mathematical model based on fitting function is built for vehicle-following control within the neighborhood of a safe and efficient steady-following state, outside which, the velocity control method based on hyperbolic function is used by the following vehicle to adjust its behavior. In this algorithm, the absolute and relative braking modes can be flexibly selected by the following vehicle for safety control. Then, we establish a state transition diagram and a state optimization model with the safe and efficient steady-following state as the optimization objective of the vehicle-following behavior. The simulation shows that the current or a new safe and efficient steady-following state can be maintained, recovered, or reestablished by implementing the dynamic control algorithm based on state transition, and the synchronous control of the following vehicle's velocity, acceleration, and inter-vehicle distance can be realized by the following vehicle adjusting its own behavior safely, efficiently, and smoothly.
ISSN:0307-904X
DOI:10.1016/j.apm.2022.06.004