Research On Cooperation Control Of Connected Vehicles

Cooperation control of connected vehicles is one of the most important applications of intelligent transportation system.With the help of vehicular ad hoc networks(VANETs),multi-vehicle systems adopt certain spacing control policies and form a networked vehicular platoon,which cannot only effectively reduce traffic congestion,improve traffic capacity and safety,but also reduce pollution of environment and fuel consumption.This thesis mainly studies the problems of influence of the time delay on the control performance in connected vehicle systems.The main research content can be concluded as follows:1.The platoon control problem under the leader-following communication strategy is investigated.Considering the road slope angle,linearized vehicular model and platoon error model are built.Then,by using Routh-Hurwitz criterion and string stability conditions,a platoon controller design methodology is obtained.2.A networked platoon sampling control problem is studied,which aimed at the communication delay in the platoon system.By using the Lyapunov functional analysis of time domain method,a platoon controller design methodology which can ensure internal stability and string stability is obtained simultaneously.3.In order to deal with variable communication delays and mechanical delays in networked platoon control system,a novel networked control structure model is built.By designing sampled-data platoon controllers,the problems of internal stability and string stability under the influence of the variable time delays are solved simultaneously.