Full metadata record
| DC Field | Value | Language |
|---|---|---|
| dc.contributor | Department of Electrical and Electronic Engineering | en_US |
| dc.contributor.advisor | Liu, Wei (EEE) | en_US |
| dc.creator | Meng, Ting | - |
| dc.identifier.uri | https://theses.lib.polyu.edu.hk/handle/200/14459 | - |
| dc.language | English | en_US |
| dc.publisher | Hong Kong Polytechnic University | en_US |
| dc.rights | All rights reserved | en_US |
| dc.title | A research on SMC based longitudinal and MPC-pure pursuit based lateral coordinated control for connected vehicle platoon | en_US |
| dcterms.abstract | Autonomous driving technology has evolved from decades of academic research to real world applications, highly enhancing the driving safety and comfort. In intelligent transportation systems (ITS), the vehicle platoon controlling is a key technology for enhancing traffic efficiency and road safety. This research mainly focuses the integrated control of connected car platoon, addressing key issues such as path planning, longitudinal and lateral control under a distributed collaborating structure. | en_US |
| dcterms.abstract | The major research content of this article is as follows: First of all, a distributed collaborative control architecture for the vehicle platoon was set up. This includes forming a predecessor-following (PF) and predecessor-leader-following (PLF) combined communication topology to enhance the control robustness and prevent malfunction propagation. The vehicle spacing strategy adopts an enhanced constant time headway (ECTH) method, considering communication delay, braking delay and vehicle length to enhance safety features. | en_US |
| dcterms.abstract | Secondly, for longitudinal control, a sliding mode control based controller was designed. The string stability is proofed by using Lyapunov theory, a sensor based secondary verification mechanism is built to enable following vehicles to switch their tracking targets when the preceding vehicle facing with malfunction issues, thereby keeping the platoon stable. | en_US |
| dcterms.abstract | Moreover, the lateral control structure adopts a multi-layer control strategy. For the leading vehicle, a local path planner based on Quintic Polynomial curves combined with the Model Predictive Control algorithm for precise trajectory tracking was used. For the following vehicles, the Pure Pursuit algorithm for effective trajectory tracking was introduced instead, balancing accuracy and computational cost. With PLF topology, an event-triggered secondary verification mechanism has been established for lateral control coordination, which helps to prevent malfunction propagation. | en_US |
| dcterms.abstract | Finally, the proposed integrated control structure was modeled and verified by join simulations with the Prescan and Simulink. Experiment in various scenarios such as normal driving, emergency braking, lane changing and platoon member malfunctions have verified the effectiveness of the controller in maintaining platoon stable control, showing high tracking accuracy (over 99.8%), and ensuring overall safety. | en_US |
| dcterms.extent | iii, 60 pages : color illustrations | en_US |
| dcterms.isPartOf | PolyU Electronic Theses | en_US |
| dcterms.issued | 2026 | en_US |
| dcterms.educationalLevel | M.Sc. | en_US |
| dcterms.educationalLevel | All Master | en_US |
| dcterms.accessRights | restricted access | en_US |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 8888.pdf | For All Users (off-campus access for PolyU Staff & Students only) | 4.86 MB | Adobe PDF | View/Open |
Copyright Undertaking
As a bona fide Library user, I declare that:
- I will abide by the rules and legal ordinances governing copyright regarding the use of the Database.
- I will use the Database for the purpose of my research or private study only and not for circulation or further reproduction or any other purpose.
- I agree to indemnify and hold the University harmless from and against any loss, damage, cost, liability or expenses arising from copyright infringement or unauthorized usage.
By downloading any item(s) listed above, you acknowledge that you have read and understood the copyright undertaking as stated above, and agree to be bound by all of its terms.
Please use this identifier to cite or link to this item:
https://theses.lib.polyu.edu.hk/handle/200/14459