Research on intelligent truck platoon control of the East China Sea Bridge based on variable time headway

To solve the common problems of high wind speed and complex road environment of the cross-sea bridge, a three-degree-of-freedom truck estimation model based on a semi-empirical magic tire model was firstly established in this paper. Real-time road adhesion coefficient estimation was designed based on the theory of Unscented Kalman Filter (UKF), and the spacing strategy was designed by using the obtained parameters. Secondly, a longitudinal dynamic model between trucks is established, a cooperative adaptive control system based on improved spacing strategy is designed, and a robust non-singular fast terminal sliding mode(NFTSM) controller is designed to resist the disturbance of wind speed. Finally, taking the East China Sea Bridge as an example, the longitudinal driving safety of trucks under different weather conditions is evaluated by setting up Simulink and TruckSim co-simulation model, taking truck spacing and longitudinal speed as indicators. The results show that with the decrease of the road adhesion coefficient, the front spacing of the improved CACC system ensures driving safety. The truck can quickly control self-speed and follow the speed of the front truck in time, and the overall driving state of the team is stable.