Research On Control System Of Platoon Based On The VANET

Vehicle formation can efficiently improve the traffic capacity and alleviate the congestion. The performance of vehicle formation can be further enhanced by vehicular ad hoc networks. This thesis mainly focuses on the problem of the vehicle formation control under the vehicular ad hoc networks. The main research includes as follows:The establishment of vehicle model and vehicle formation model with no external disturbance and uncertainty of model parameters, in considering the dynamics of a single while a vehicle is being driven.Considering the problems about vehicle control with external disturbance and uncertainty of model parameters, a fleet architecture under the vehicular ad hoc networks is planned, and a performance-guaranteed controller is designed by employing the fixed-distance driving strategy. Then the application of control algorithm into intelligent fleet implements the stability of single vehicle and fleet simultaneously.Considering the proposed varying-distance perturbation adaptive fleet structure and the requirements of vehicular ad hoc networks and fleet dynamic properties, with specific perturbation adaptive fleet structure, the traffic dynamic properties are analyzed and the desired parameters are obtained, so as to satisfy the vehicular ad hoc networks constraints under traffic disturbance. To reduce the negative effects of traffic disturbance and improve the traffic capacity, by comparison two strategies and considering the limited fleet communication range, the fixed-distance control strategy is chosen to increase the number of vehicles, which will further enhance the traffic capacity and stability of fleet with disturbances.Finally, extensive simulation experiments are conducted, which not only validate our analysis but also demonstrate the effectiveness of the proposed driving strategy.