Longitudinal Vehicle Platoon Control: A Method Based on Optimal Preview Control Algorithm

ABSTRACT This paper focuses on longitudinal vehicle platoon and proposes a controller design that combines information exchange strategy with the optimal preview control algorithm. First, establish the longitudinal dynamics model of the platoon vehicles and propose the control objectives of maintaining a constant inter‐vehicle distance and consistent speed. Next, an information exchange strategy is designed to integrate information from the preceding vehicle, inter‐vehicle distance, and speed difference, generating the desired target tracking speed. On this basis, the optimal preview control algorithm is applied by constructing an augmented error system to introduce preview information, and the higher‐level controller (HLC) is designed. Then, the lower‐level controller (LLC) adjusts the vehicle's acceleration and deceleration behavior based on the desired acceleration output by the HLC. These two controllers work in coordination to form a multi‐level optimal preview controller (MLOPC). Finally, joint simulations demonstrate the effectiveness of applying this controller to vehicle platoon.