摘要：AbstractThis study addresses the problem of trajectory tracking control for connected vehicle (CV) platoon with a focus on the car-following interactions between CVs. In particular, a bidirectional leader-follower topology is exploited to characterize the communication connections among CVs. Then, a dynamic controller for follower vehicles is designed by considering the position error and velocity difference with respect to the leader, and the car-following interactions. The stability of the proposed algorithm is analyzed using the Lyapunov technique. Simulation experiments under two scenarios: no disturbance and with disturbance acting on the leader are performed. Finally, field experiments are conducted by using four equipped vehicles in a realistic vehicle-to-vehicle/vehicle-to-infrastructure (V2V/V2I, or V2X for short) communication environment. Both the simulation and field experiment results demonstrate the feasibility and effectiveness of the proposed controller.
