Energy Saving and Stability Control Strategies for a Platoon System of Mixed Gasoline and Electric Vehicles under Uncertainty and Disturbances

An energy saving strategy and stability control method of heterogeneous intelligent connected platoon system consisted of fuel vehicles and pure electric vehicles were proposed. Firstly, the dynamics model and energy consumption model of heterogeneous vehicle platoon were established considering the factors that weaken the stability of vehicle system, such as uncertain parameters, communication delay and external interference. Secondly, the optimal economic vehicle speed was planned offline based on dynamic programming method, and a new energy-saving spacing strategy was proposed. Secondly, the state tracking error system was constructed. Based on the distributed robust control method, the stability criterion of platoon system under interference and information delay was given. Through the simulation test, it is found that the energy saving effect of following vehicles can be improved by 10.087 %, 10.311 %, 10.355 % and 42.138 % respectively under the premise of keeping the platoon system stable.