The Design And Analysis Of Formation Control Of Intelligent Vehicle Based On Event-triggered Mechanism

In the increasingly busy transportation network, the platoon driving strategy of vehicles can effectively alleviate the traffic congestion problem. There exists frequent information exchange,states measurement and controllers update among the vehicles in the moving process of the platoon. In order to reduce the energy consumption in the process of communication, measurement and calculation, this paper ultilizes the event-triggered control theory to design the distributed formation control approaches for the multi-intelligent-vehicle system. A fixed spacing policy is adopted to design the controller. Then, stability analysis for the strict closed-loop system is made. Finally, the effectiveness of the proposed algorithm is verified by the numerical simulation. The main results of this paper are as follows:Firstly, a centralized formation control approach based on the event-triggered control is designed. The event-triggering instants of the intelligent vehicles are obtained by designing a distributed event-triggered controller for a single intelligent vehicle and designing the event-triggering function. Furthermore, in order to avoid real-time detection of measurement error,a distributed self-triggered control approach is designed for single intelligent vehicle on the basis of event-triggered control. Theoretical analysis and numerical simulation results show that the platoon can achieve uniform and asymptotic stability in the moving process, and the controller of each follower vehicle is updated only at the event-triggering instant, which effectively reduces the energy consumption in the control process. At the same time, the event triggering time interval is positive, which ensures that the system does not exist Zeno behavior, thus verifying the validity of the control algorithm.Then, a decentralized formation control based on the event-triggered mechanism is designed, which does not require to rely on the global state information of the system.Each intelligent vehicle has its own event trigger time, its event trigger conditions only depend on state information of the vehicle itself and its neighbors. In addition, the decentralized self-triggered queue control is designed that the next event trigger time of each vehicle can be calculated by the state of the previous trigger time. What's more, the formation control based on event-triggered control with communication delay is considered. Theoretical analysis and numerical simulation results indicate that the closed-loop system can avoid the occurrence of Zeno behavior while achieving uniform asymptotic stability.Finally, in order to visually demonstrate the movement trajectory and evolution process of the intelligent vehicle platoon, this paper designs the intelligent vehicle formation control visualization system. The system is developed by Matlab GUI interface library, and the system state initialization, dynamic simulation, status output and other functions is achieved according to the visual interface. According to the waterfall model, the design process of the whole program is described in detail from three main stages: demand analysis, program design, program testing and maintenance.The proposed control approaches of this paper are implemented by the visualization system.