Collaborative Control Switching Strategy for Merging into An Automated Platoon

Aiming at the vehicle formation driving under the constant time headway policy (CTHP), a cooperative strategy for merging into an automated driving platoon is proposed. Based on the network communication protocol, a network information transmission structure is constructed, then the communication interaction mode between the vehicles inside and outside the platoon is determined. Meanwhile, we proposed a relatively complete platoon management method. Under the network information architecture, the vertical cooperative adaptive cruise control (CACC) of the platoon is devised. The parameters of the controller are selected based on the stability of the single vehicle and the internal stability. Through the CACC system, a strategy framework for the information interaction and motion control of cooperative platoon mergence is established. For the cooperative motion process under decision-making, the virtual target control method (VTCS) is proposed to change the input of distance to the controller. It realizes the process of decelerating and increasing the distance of the followers and changing lanes of the free-vehicle into the platoon.