Research On Expressway Truck Platooning Control Based On Dynamic Consistency

Under the background of continuous intelligent and informational development of road transportation system,expressways truck platooning has become an important value for intelligent transportation based on its important value for saving energy consumption,protecting the environment,reducing congestion and increasing the potential capacity of roads.It has gradually attractted the attention of many research scholars,engineers and governments.The purpose of truck platooning control is to control the following vehicle to enter the front vehicle wake area,reduce the overall average air resistance of the whole platoon,and achieve the purpose of improving fuel economy during high-speed running due to the airflow barrier function of the lead vehicle.In order to achieve the fuel economy effect of truck platooning control and to meet the safety requirements,the speed of every two adjacent vehicles and the reasonable spacing strategy should be adopted.The major objective of truck platooning control is to maintain the dynamics consistency of the front and rear vehicles in platoon and maintain the desired safety distance.This paper focuses on the problem of achieving dynamic consistency of the whole truck platoon,resisting the influence of external disturbance and parameter uncertainty and multi-vehicle platooning control based on three different control theories.This paper is in the National Natural Science Foundation International(Regional)Cooperation and Communication Key Project Topic Three(No.61520106008)“Safetyoriented Rolling Optimization of Electric Vehicles for Safety”,National Natural Science Foundation of China(No.61790563)“Human-Machine Cooperation under Extreme Conditions”Under the auspices of Mechanism and Switching Control,the research on expressways truck platooning control based on dynamic consistency is studied as follows:In the process of optimizing the decision and controlling the following vehicle to track the state of the preceding vehicle,there is dynamic inconsistency between the front and rear vehicles in the platoon.Based on the model predictive control theory design,the vehicle optimization controller establish the state and control constraints combined with the physical actuators in the vehicle model and the road traffic regulations.Based on the truck formation driving control requirements,the optimization objective function is established to complete the controller solution optimization.Predict the dynamic changes of the preceding vehicle at the next moment based on the established vehicle dynamics model,and considers this information in the design of the reference signal and the objective function to ensure the dynamic consistency of the front and rear vehicles.When the vehicle platooning is running,the controller will be affected by vehicle driveline delay,external wind speed changes and road gradient changes.In this paper,based on the vehicle dynamics,the mathematical expression of the interference is derived.The model inverse compensation method is used to eliminate the nonlinear term in the dynamic equation.The expected acceleration is the control input,and the vehicle speed,displacement deviation and vehicle acceleration are the state quantity.The linear equation of the two-car mutual motion linear state is established.The controller is designed based on the H?state feedback control theory,and the controller gain is solved by the LM I linear matrix inequality method.When the number of vehicles in the platoon is increasing,the controller needs to take into account the state change information of the front and rear vehicles in the decisionmaking process and meet the control requirements of the string stability.Therefore,the reference input signal is constructed based on the Lyapunov function of the front and rear vehicle state deviations.The three-step controller is applied to ensure the following vehicle's tracking performance to the reference signal.The adaptive law is designed for some controller parameters.Finally,based on Lyapunov's second law and Ls Salle invariant set theorem,it is theoretically verified that the control method can satisfy the asymptotic stability and queue stability of formation control.According to the proposed controller design method,this paper designs road simulation test and vehicle simulation mathematical model based on T ruck Sim-Simulink co-simulation environment,and builds model prediction controller simulation model based on M atlab software optimization toolbox.H?state feedback control gain solution,and finally the effectiveness of the control method is verified by combining different simulation road conditions in this simulation test environment.