Research On Vehicle Platoon Control Technology

With the increasing of motor vehicles,the contradiction between traffic congestion,traffic accidents energy and environment has been further intensified.As one of the effective means to solve this problem,it is indispensable to do much more research on intelligent transportation system,especially its subsystem,autonomous platoons.Autonomous platoons aim to use sensors,communication and control technology to enable multi-autonomous vehicles travelling in the form of platoons on the road,thus greatly improve the capacity and safety of vehicles in the transportation system.The stability of autonomous vehicle platoons will be inevitably influenced by disturbances from extermal traffic environnents,such as the participants of automobiles,non-motor vehicles and pedestrians,etc.,and internal operation status,such as vehicle failures of the platoons.Under these conditions,the autonomous platoons need to predict the trajectory of these dynamic obstacles and avoid potential collisions through some appropriate control strategies.In addition,the normal operation of the platoon5s members during the increasing or decreasing of the platoons should be guaranteed.In order to solve these problems,this thesis designs a multi-autonomous vehicle platoons tracking control system based on directional and lane-splitting road.The main contents of the paper can be listed as follows:1)Environment-aware and controller design:Firstly,the physical characteristic information of obstacles in the environment is collected from the laser sensor.Then the angle of the leader vehicle is obtained from visual sensor.Finally,the information collected by two kinds of sensors is merged for the controller design.According to whether there is communication between the leader and follower or not,we propose two different controllers based on Lyapunov function and fuzzy control respectively.2)Dynamic vehicle trajectory prediction and collision avoidance strategy:in directional and lane-splitting road,two methods of motion trajectory prediction for different driving behaviors are proposed.A collision avoidance strategy based on fuzzy control is designed in combination with the controller of autonomous platoon.3)Formation reconfiguration strategy:according to the situation in actual application,different events leading to increasing or decreasing of the platoon members are classified.The control strategy of formation reconfiguration based on different trigger events is proposed.