Platoon Control Under The Connected Vehicles Environment:Algorithm And Application

Platoon-based driving pattern has the potential to increase road throughput,mitigate traffic congestion,and reduce emissions of atmospheric pollutants.Besides,in the context of connected vehicles,vehicles can communicate with other vehicles or roadside unit via vehicle-to-vehicle communication/vehicle-to-infrastructure communication within communication range.The V2 X technology enables vehicles to facilitate the platoondriving pattern by considering comprehensive information.Therefore,it is of theoretical and practical significance to study the platoon control of connected vehicles,which will provide theoretical and experimental basis for the development of connected and automated transportation systems in the future.In this thesis,traffic flow model and platoon control algorithms are analyzed first,and then the experimental verification is conducted to investigate the vehicle traffic flow and platoon control in the connected environment.The main work of this thesis includes:1.Regarding the microscopic traffic flow model in connected environment,a microscopic traffic flow model based on spring-mass system theory and a microscopic traffic flow model considering beacon performance analysis are proposed.This thesis mainly uses two methods to study the microscopic traffic flow model in the connected environment.On the one hand,considering the position and velocity difference between the following vehicles and the preceding vehicles,according to Hooke's law,the microscopic traffic flow model is proposed based on the spring-mass system theory.On the other hand,CSMA/CA mechanism is used to analyze the beacon transmission performance.Hence,a new car-following model is proposed considering the beacon transmission performance analysis.Then,the stability condition of the new model is analyzed by using the small perturbation method.2.Related to platoon control for connected vehicles,consensus-based longitudinal and lateral control algorithms are proposedTo design the platoon control algorithms,this thesis first designs some vehicle platoon scenarios including platoon forming,vehicle merging and vehicle diverging.Regarding the scenarios in platoon control,consensus-based longitudinal and lateral control algorithms are proposed considering car-following behavior,communication topology and vehicle status information.In addition,the convergence of longitudinal and lateral control algorithms is analyzed.The string stability of the platoon is analyzed using Barbalat theorem to prove that the platoon can maintain a stable gap and velocity.3.Regarding the field experiment of platoon control,a platoon control experimental platform is developedWhen the theoretical study is completed,the platoon control experimental platform is developed based on DSRC(Dedicated Short-range Communications)technology.The vehicle can obtain its own information via differential global positioning system,including position,velocity and head orientation.The proposed platoon control algorithms are transplanted into the on-abroad unit,and some experiments are conducted in the field,including platoon forming,vehicle merging and vehicle diverging,the results from the experiments verify the effectiveness of proposed car-following model and platoon control algorithms.