Journal of Jilin University(Engineering and Technology Edition) ›› 2025, Vol. 55 ›› Issue (6): 1994-2002.doi: 10.13229/j.cnki.jdxbgxb.20231367

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Digital twin driven longitudinal and lateral control of truck platoon

Shu-you YU1(),Hua-cheng XIE1,Wen-bo LI1,Yong-fu LI2,Hong CHEN1,3,Bao-jun LIN1()   

  1. 1.College of Communication Engineering，Jilin University，Changchun 130022，China
    2.Key Laboratory of Intelligent Air-Ground Cooperative Control，Chongqing University of Posts and Telecommunications，Chongqing 400065，China
    3.College of Electronics and Information Engineering，Tongji University，Shanghai 200092，China
  • Received:2023-12-08 Online:2025-06-01 Published:2025-07-23
  • Contact: Bao-jun LIN E-mail:shuyou@jlu.edu.cn;linbj@jlu.edu.cn

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Abstract:

A vehicle platoon cooperative control system based on digital twin was proposed， considering the longitudinal and lateral motion. The proportional-integral-derivative （PID） control was designed to ensure stable driving of the convoy. The linear quadratic regulator （LQR） control was designed to ensure the lateral lane tracking performance. A digital twin simulation scenario was build using Prescan， TruckSim， and Matlab/Simulink， and the longitudinal following and lateral lane tracking performance of vehicle queues was dynamically simulated based on longitudinal and lateral control. The digital twin comprehensively debugs and optimizes the control strategy and parameters by remotely controlling the vehicle platoon and monitoring indicators such as longitudinal and lateral velocity， lateral position and yaw angle deviation of the platoon. The simulation results show that the digital twin driven truck platoon control system has good tracking performance and lane-keeping performance.

Key words: automatic control technology, digital twin, vehicle platoon, lane-keeping, longitudinal and lateral control

CLC Number: 

  • TP273

Fig.1

Digital twin architecture"

Fig.2

Vehicle yaw dynamic model"

Fig.3

Structure of lane-keeping model"

Fig.4

Lateral controller structure"

Table 1

Parameters of trucks"

参数数值
mi/kg18 000
Iiz/(kg?m2)130 421.8
lf,i/m3.5
lr,i/m1.5
τi/s0.25
Cicf/(N·rad-1)5.422 5×105
Cicr/(N·rad-1)1.066 3×105

Table 2

Parameters of the longitudinal and lateral controller"

参数数值
kx8.1
kv0.9
d0/m9.5
h/s0.6
L/m5
Qihdiag(1?000,100,1000,100)
Rih1 000

Fig.5

“Nanling Campus of Jilin University” Prescan simulation scene"

Fig.6

Trajectory of trucks"

Fig.7

Road curvature"

Fig.8

Longitudinal velocity"

Fig.9

Front wheel slip angle"

Fig.10

Yaw angle offset"

Fig.11

Lateral position offset"

Fig.12

“Expressway” Prescan simulation scene"

Fig.13

Trajectory of trucks"

Fig.14

Road curvature"

Fig.15

Longitudinal velocity"

Fig.16

Front wheel slip angle"

Fig.17

Yaw angle offset"

Fig.18

Lateral position offset"

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