Parameterized Model Predictive Control For Constrained Vehicle Platooning Systems

Vehicle platooning is one of hot issues in intelligent transportation systems(ITS)in recent years.With guarantees of driving safety,reducing the inter-vehicle spacings can effectively solve the problem of traffic congestion,improve the capacity of the road and lessen the fuel consumption.Meanwhile sensors are the key elements to realize real-time interaction of vehicle platoon information.However,the measurement range of sensors has an important influence on the performance of the vehicle platoon control systems.Considering the constraint problems resulted from driving behavior and vehicular sensors reading ranges,this dissertation studies the constrained control schemes of vehicle platoons based on model predictive control(MPC).From the viewpoints of theory and application,this is important to develop the intelligent transportation systems.The main achievements and innovations of this dissertation are summarized as follows:(1)One parameterized MPC of constrained vehicle platoons is proposed to deal with the problem of reading range-limited sensors.Based on the Newton's second theorem,the state error model of the vehicle platoon is established and the influence of range-limited sensors is analyzed qualitatively.A switching controller of vehicle platoons is emerged by classic PD cruise control strategy which is parameterized.Some sufficient conditions with guaranteed asymptotical stability and string stability of the vehicle platoon are established.The state(output)feedback parameterized MPC is employed to achieve stable tracking of the vehicle platoon system.Compared with the intelligent driving model algorithm(IDM),the advantages of this algorithm were illustrated using a numerical example.(2)Due to the existence of time-delay in wireless transmission of state information,which affects stability of the vehicle platoon,a time-delay feedback parameterized MPC of constrained vehicle platoon systems is proposed.By applying time-delay state feedback parameterized MPC,the effects of different prediction time domain length on the platoon system is discussed and the finite time optimal control problem is established.Moreover,the conditions of string stability with time-delay are analyzed.Compared with IDM,the advantages of this algorithm were illustrated using a numerical example.(3)Considering fuel economy of constrained vehicle platoons,the fuel economy MPC of the platoon system is proposed.By introducing the fuel consumption model to the parameterized fuel economy MPC,the optimal control problem of the fuel economy is formulated.On the premise of ensuring the safety,tracking and comfort of the vehicle platoon,the fuel economy is realized.Finally,the effectiveness of this algorithm is verified by some simulation scenarios.