Modeling And Control Of Vehicle Cooperative Adaptive Cruise System

Vehicle cooperative adaptive cruise control(CACC)system is one of the most important aspect in the field of intelligent transportation.With the rapid increase of car ownership in China,the safety,stability and efficiency of vehicle driving have become the urgent problems to be solved in the road traffic system.Vehicle CACC system is to realize the automatic cooperative driving of vehicles through advanced communication and control technology,so as to improve the overall control performance of the vehicular platoon and reduce the energy consumption of the vehicular platoon.This dissertation investigates communication constraints;sensor failure;actuator delay;cyber-attack;nonlinear longitudinal dynamics and lateral-longitudinal coupling dynamics in vehicle CACC model and the effect on the control performance.The main research is summarized as follows:The problem of vehicle cooperative adaptive cruise system modeling and control under the influence of hybrid time-varying delay is investigated.A novel event-driven framework is constructed to reduce the communication burden and vehicle fuel consumption.The sufficient stability conditions of the vehicle CACC system are obtained through the analysis of Lyapunov's method,and the quantitative relationship between the controller gains and delay upper bound are obtained,so as to achieve asymptotic stability and string stability for the vehicle CACC system.The consensus problem of nonlinear vehicle CACC with cyber-attack is studied in this chapter.A distributed event triggered control method is proposed to solve the problem that normal communication between vehicles in the CACC can not be guaranteed under the influence of network attack,so as to ensure the global consistency and boundedness of tracking error.Then,an optimization problem for choosing relevant parameter is also derived to obtain more time to recover the lost communication capabilities due to cyber-attack,and the better control performance can be guaranteed.The problem of consecutive cyber-attack is considered in vehicle CACC system.A nonlinear vehicle CACC switch model is established under the event-driven framework.Based on this model,a distributed resilient controller is designed by using Lyapunov method,which can guarantee the robust exponentially stability of the system,and the superiority of the proposed algorithm is validated by simulation.The problem of vehicle CACC under the effect of sensor failure is investigated based on a nonlinear switch model combined with longitudinal and lateral movement.An LMI based model predictive control method is designed by using the Lyapunov method,which can optimize the control performance index,so as to further improve the control performance.The effectiveness and practicability of the algorithm are verified by the experimental vehicle CACC which was built by Arduino.