Nonlinear Dynamic Stability of the ACC Platoon Under Critical Conditions

doi:10.3901/JME.260584

Abstract

Abstract: Considering the nonlinear saturation characteristics of tire forces of individual vehicles for the typical ACC platoon, this paper investigates the nonlinear dynamic stability of the vehicular platoon under critical conditions. A platoon-vehicle coupling nonlinear dynamics system is established, and the coupling influence mechanism of driving conditions, vehicle physical parameters, and platoon parameters on the equilibrium stability and string stability is analyzed based on the control gain parameter plane, then the idea of coordinated control between individual vehicles dynamics and the platoon following is proposed, analyzed and evaluated. The results show that the actual design range of platoon control gains are very finite under critical conditions by considering the nonlinear saturation characteristics of tire forces. The string stability is more stringent than the equilibrium stability, and ensuring the equilibrium stability of each vehicle is the basis for achieving the string stability of the platoon. However, there is a conflict between the equilibrium stability and string stability in the design of control gains. The idea of coordinated control based on individual vehicle dynamics and platoon following control can significantly improve the stability and dynamic performance of the platoon under critical conditions.

Key words: vehicular platoon, nonlinear dynamics, adaptive cruise control, platoon control, stability analysis, coordinated control

CLC Number:

U461

YANG Xiujian, WU Xiangji, WANG Shenyi. Nonlinear Dynamic Stability of the ACC Platoon Under Critical Conditions[J]. Journal of Mechanical Engineering, 2026, 62(14): 313-324.

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URL: http://www.cjmenet.com.cn/EN/10.3901/JME.260584

http://www.cjmenet.com.cn/EN/Y2026/V62/I14/313

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