Nonlinear Longitudinal Control for Vehicle Platoon Considering the Effect of Electronic Throttle Opening Angle

This paper proposes a homogeneous vehicle platoon longitudinal controller considering the effect of electronic throttle opening angle. In particular, a nonlinear longitudinal controller is proposed by integrating the consensus between connected autonomous vehicles (CAVs), the influence of interactions between vehicles and the effect of electronic throttle (ET) opening angle. Then, the convergence condition is deduced analytically by using the Routh-Hurwitz stability criterion. The controller can not only ensure the consensus of CAVs, but also avoid rear-end collision and negative velocity. Finally, simulations are carried out in the presence of external interference to verify the robustness and effectiveness of the proposed controller with respect to position, velocity and acceleration/deceleration profiles.