Cooperative Platoon Control Of Homogeneous Vehicles Under The Connected Vehicles Environment

In the traditional transportation system,vehicles are independent on a road and no information interactions exist between each other,although the driver of vehicle can perceive information from the surrounding infrastructure via the visual sensor and other auxiliary sensors.Consequently,the implementation of platoon-based driving pattern is difficult under complex traffic conditions due to the limitation of relevant information.Fortunately,vehicles equipped with on-board units(OBUs),such as connected vehicles(CVs),can exchange information with the neighboring vehicles or the roadside infrastructure within the comuinication range via the vehicle-to-vehicle/vehicle-toinfrastructure(V2V/V2I)communications.This information communication technology enables the CVs to facilitate the platoon-driving pattern by considering the comprehensive information on surrounding vehicles under the connected environment.Hence,it is of important theoretical and practical significance to study the platoon control for connected autonomous vehicles(CAVs),which can provide the theoretical and experimental basis for large-scale development and scientific decision-making for the future connected and autonomous transportation systems.The focus of this paper is cooperative platoon control of homogeneous vehicles under the V2 X environment both from the perspective of microcosmic and macroscopic.Specifically,on the one hand,from the perspective of microcosmic,based on the cooperative control strategy for the homogeneous vehicular platoon,the message type of V2 X and its forwarding mechanism will be designed according to the communication environment of V2 X.Then,the simulation and experiment platform of vehicular platoon control will be developed respectively based on the traffic simulation software TransModeler and Dedicated Short Range Communications(DSRC)technique.This platform will verify the effectiveness of proposed vehicular platoon control strategy by performing simulations and experiments.On the other hand,from the perspective of macroscopic,this paper aims on the revolution of traffic flow considering the influence of the information of road geometry.Then,a fluid mechanics lattice model considering the bilateral gaps is proposed,and its steady and dynamic characteristics will be analyzed.Finally,simulation and field experiments will be conducted to verify the stability of the proposed model to realize accurate recognition of traffic flow phenomena.This paper can divide into four parts,including:1.Cooperative vehicular platoon control under V2XLiteratures about vehicular platoon control mainly focus on how to keep the vehicle moving stable in the platoon,but not considered some complex scenarios under V2 X.This paper considered some typical platoon control scenarios,such as platoon forming,vehicle merging,platoon moving and vehicle diverging,and proposed a novel cooperative vehicular platoon control strategy based on the Leader-Follower and MHVAD model as the control algorithms of each vehicle.In addition,message types under V2 X communications will be designed,and the communication topology and message forwarding mechanism will be developed2.The simulation of cooperative vehicular platoon control under V2XThe researches on vehicular platoon control mainly focus on the theoretical analysis.Vehicular platoon control strategy should be close to the real traffic environment,a simulation platform of cooperative vehicular platoon control based on TransModeler will be developed,and the TransModeler can construct the simulation environment based on map.Using GISDK and TsmAPI to develop user and algorithms interface.Then the control strategy can be programmed by C# and the simulation will be conducted based on the simulation platform under the control of cooperative vehicular platoon control strategy to verify the effectiveness of proposed strategy.3.The experiments of cooperative vehicular platoon control under V2XIn order to simulate the platoon control in real connected vehicle environment,DGPS and DSRC are used to obtain the position information and communication with other vehicles respectively,then an experiment platform is constructed by on-board unit and roadside unit.According to the cooperative vehicular platoon control strategy and its experiment platform under the connected vehicle environment.In addition,the control strategy will be rewritten by C language and downloaded into on-board unit and roadside unit,then,the field experiments can be conducted under the control of vehicular platoon control strategy to verify the effectiveness of proposed strategy in the real connected vehicle environment.4.Macroscopic traffic flow of homogeneous vehicle platoon considering the bilateral gapsParts 1?2 and 3 mainly focus on the cooperative vehicular platoon control from the perspective of microcosmic,but from the perspective of macroscopic,considering an unstructured road environment with unclear lane lines or lane-free lines in real roads.Regarding the bilateral gaps between preceding vehicle and following vehicle as a variable in the algorithms,then extending lane lines to lane-free conditions to propose a traffic flow lattice model considering bilateral gaps.In addition,small perturbation method and reduced perturbation method will be used to analyze the linear and nonlinear stability.The results from the theoretical analysis and simulation verify that the proposed model has better steady-state performance and dynamic performance.