Study On T-CPS Robust Control Of Vehicles Cooperative Driving In The Vicinity Of Traffic Signals Under V2X

The vicinity of traffic signals is the bottleneck of urban traffic and main area of traffic accidents.The main reasons are that the vehicles drive and stop periodically in this area with the change of traffic signals.It is easy to decline the performance of cooperative driving,reduce traffic efficiency,increase energy consumption,and even lead to traffic accidents(such as rear-end collision)due to internal uncertainties,external perturbations,delays and other factors.Therefore,it is of great significance to study the law of vehicles cooperative driving and design corresponding control strategies to improve driving safety,enhance traffic efficiency and reduce energy consumption in the vicinity of traffic signals.Taking robust control of cooperative driving as the entry point,it will be helpful to study deeply the internal mechanism under the influence of uncertainties,external perturbations and delays in the vicinity of traffic signals.Meanwhile,it is expected to be an effective way to solve the difficulties of cooperative driving under V2 X.From the perspective of transportation cyber physical systems(T-CPS),this paper takes stability and robustness of cooperative driving as breakthrough to study robust control of cooperative driving in the vicinity of traffic signals.First of all,for vehicle cooperative system with multi-time delays,stability of vehicles cooperative driving with multiple time delays is studied.On the basis of the analysis of cooperative driving with multi-delays,robust H? control strategies are studied considering time-varying delay and nonlinear.In order to further analyze the characteristics of cooperative driving,considering third-order dynamics and disturbance input,robust control methods of cooperative driving of homogeneous vehicles are studied.On the basis of cooperative driving of homogeneous vehicles,considering heterogeneity,internal parameter uncertainties and communication constraint,robust control strategies of heterogeneous vehicles are studied.The main research works are as follows:(1)Based on T-CPS perspective,we study the problem of vehicles cooperative driving with multiple time delays.We propose general vehicles cooperative driving system with multiple time delays and nonlinear.Next,we discuss string stability and local stability of traditional vehicle driving model respectively,and string stability of multi-vehicles cooperative driving model.The relationships between time delays and stability are studied.On this basis,Burgers equation and KdV equation are derived.The solitary wave solutions and constraints of nonlinear equations are obtained.Finally,the influence of different time delays and synergistic effect on cooperative driving are analyzed through simulation experiment.(2)Taking vehicles cooperative driving in the vicinity of traffic signals as the object,this paper studies cooperative driving with time-varying delay and nonlinearity in response to the bounded and time-varying delay in the driving process.Using Lyapunov-Krasovskii stability theory,robust stability of the proposed model is investigated.Furthermore,considering various external disturbances in real traffic,using linear matrix inequality method,distributed robust H? control strategies are designed.The effectiveness and feasibility of the proposed method are tested by numerical simulation.It can be seen that the proposed control method could be used to suppress traffic congestion and relieve the influence of uncertain external perturbations on traffic flow stability.(3)For cooperative driving system for homogeneous vehicles in the vicinity of traffic signals under V2 X,considering vehicle dynamics and disturbance input,the problem of cooperative driving of homogeneous vehicles is studied.This work studies vehicle dynamics and dynamic response performance from physical perspective,and analyzes the topology structure between vehicle and vehicle and roadside equipment from cyber perspective.In this way,a unified mathematical description of cooperative driving model for homogeneous vehicles is proposed.Using Lyapunov-Krasovskii theory,robust stability of cooperative driving model is analyzed.Considering input disturbance,distributed robust control strategies are designed.The validity and feasibility of the proposed control strategies are verified by simulation experiments.(4)Taking the heterogeneity,internal parameter uncertainties and communication constraints into account,the problem of cooperative driving of heterogeneous vehicles is studied.For heterogeneous vehicles,cooperative driving model with parameter uncertainties and communication delays is constructed.According to the limitations of heterogeneity,dynamic uncertainties,communication delays and packet loss,robust control strategies are proposed.Through theoretical analysis and numerical simulation,the validity and feasibility of research results are verified,which provides guidance for traffic congestion control strategies.