Longitudinal Coordinated Control of Vehicle Platoon Considering Vehicle System Dynamics and Tire Slip Energy Dissipation

doi:10.3901/JME.2025.08.250

Abstract

Abstract: To coordinate the performance of vehicle platoons driven by in-wheel motors and the dynamic performance of the vehicles in the platoons, a longitudinal coordinated platoon control strategy considering vehicle system dynamics and tire slip energy dissipation is proposed. Firstly, considering tire slip, a mathematical model of the vehicle platoon is established. Next, the norm of minimizing tire slip energy dissipation distribution is introduced. Three objective optimization schemes are designed based on no-slip control, slip rate control, and slip energy control. Finally, the controller design is completed based on the centralized optimization method of nonlinear model predictive control. Simulation results under low adhesion road conditions show that the proposed optimization scheme can achieve stable control of platoon space. However, the no-slip control scheme caused apparent wheel slippage and could not achieve stable control of the node vehicle. The slip energy control scheme performs best in reducing tire wear. Compared to the no-slip control scheme, the total tire slip energy dissipation is reduced by 7.2%. Under braking conditions, within the limit of optimal slip rate and the target deceleration rate remains constant. Compared to the slip rate control scheme, the decrease in front wheels’ mean maximum slip rate, the mean maximum loading rate, and the mean longitudinal force are 10.4%, 5.0%, and 2.8%, respectively. Therefore, the slip energy control scheme provides a more significant lateral force margin for the front-wheel-steering vehicles and improves vehicle maneuverability effectively.

Key words: vehicle platoon, in-wheel motor drive, longitudinal coordinated control, tire slip energy dissipation, vehicle system dynamics

CLC Number:

U461

ZHANG Ning, WU Zhihao, ZHANG Haobin, LI Pu, XU Liwei, YIN Guodong. Longitudinal Coordinated Control of Vehicle Platoon Considering Vehicle System Dynamics and Tire Slip Energy Dissipation[J]. Journal of Mechanical Engineering, 2025, 61(8): 250-260.

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