Connected Autonomous Vehicle Platoon Control Considering Vehicle Dynamic Information

Considering the effect of vehicle dynamic information, this study proposed a platoon control protocol for connected autonomous vehicles driving on the lane-disciplined roads under the vehicle-to-vehicle (V2V) communication environment. Algebraic graph theory has been used to capture the communication connections between vehicles. In addition, the electronic throttle opening angle containing the vehicle dynamics information is incorporated in the control protocol. The stability and consensus of the proposed control protocol are verified using Routh-Hurwitz stability criterion. Furth, the performance of the control protocol is that vehicle states can reach the consensus with respect to spacing error and velocity under external perturbation. Finally, the effectiveness of the proposed protocol is verified by the numerical experiment.