Research Article
Optimal Spacing Policy for Vehicle Platoon Control with Road-Friction Coefficient
Algorithm 1
The vehicle platoon control algorithm with optimal spacing policy.
| Input: the initial position: ; the initial velocity: ; the road-friction coefficient function: ; the controller parameters including ; | | Output: the vehicle platoon with optimal spacing policy. | | (1) | According to (5), calculate the centroids of Voronoi regions with initial positions ; | | (2) | fordo | | (3) | fordo | | (4) | According to (7), calculate ; | | (5) | Calculate and based on (1); | | (6) | Construct integrated sliding surface by employing (8); | | (7) | Based on (11) and (19), Calculate the and ; | | (8) | According to (23), calculate ; | | (9) | According to (1), update the positions of vehicles, ; | | (10) | end for | | (11) | Let . Then, calculate the updated Voronoi region and centroid ; | | (12) | end for |
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