Research On Modeling And Control Of Autonomous Platoon Based On The Wireless Communication

An autonomous platoon control system is one of the most important subsystems of automated highway systems, which belongs to the active safety system. The aim of the system is to significantly improve the efficiency of the highway system and the running safety of vehicles by having all vehicles form a formation via the communication among vehicles, to reduce the driver fatigue and to make the driving comfortable.The basic functions of the autonomous platoon control system is introduced and the advantages and disadvantages of the existing results is analyzed on the autonomous platoon control system home and abroad. Then, on the basis of the above analysis, we systematically study the modeling and control of longitudinal platoon control system, which are summarized as follows:1. Considering the effect of external factors on vehicles, the single vehicle dynamics is modeled. The reliability and feasibility of the model is analyzed. Based on the derived model and the designed feedback controllers, the closed-loop model of the platoon is established.2. The stability of the platoon is analyzed in two cases:without communication delay and with communication delay, respectively. Correspondingly, three controllers are designed based on PID algorithm, nonlinear PID algorithm and Lyapunov theory. By simulating and comparing these three algorithms proposed, their effectiveness is illustrated to guarantee the stability of the platoon and the safety and comfort of driving.3. The longitudinal platoon control system is investigated under consideration of the effect of communication networks. Due to the limited communication bandwidth, only parts of vehicles are able to simultaneously access to information from the front vehicles. Moreover, communication delays and packet dropouts inevitably occur during the information transmission. By using Lyapunov theory and linear matrix inequality, a stability condition ensuring the platoon safely runs is obtained. A numerical example is given to demonstrate the effectiveness and advantage of the proposed method by MATLAB. Finally, the algorithm is successfully applied to the platoon of Arduino cars in our lab.4. A summary and the outlook of the future work to be addressed are given.