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The Research On Cooperative Control Of Intelligent Vehicle Platoon Based On Vehicle To Vehicle Communication

Posted on:2019-09-05Degree:MasterType:Thesis
Country:ChinaCandidate:J W YuFull Text:PDF
GTID:2392330602959448Subject:Engineering
Abstract/Summary:PDF Full Text Request
At present,more and more cars around the world,while it is providing convenience to our lives,it also brings traffic safety problems and environmental pollution.Nowadays,with the rapid development of self-driving technology,intelligent transportation systems and Internet of Vehicle technology,there are receiving more attention from governments,universities,research institutes and all walks of life.This paper mainly studies the longitudinal platoon control of intelligent vehicle based on vehicle to vehicle communication mode.Its function is to control the vehicle to fonn a stable platoon under the condition of guaranteeing safe distance,in order to achieve fuel economy,alleviate traffic congestion and improve vehicle driving safety.The main work of this paper is as follows(1)A longitudinal dynamic model is established for the Intelligent Vehicle,and the vehicle dynamics model in Carsim is simulated and compared,which verifies the accuracy of the model,and to provide the basis for the simulation of the following controller.(2)The fuzzy control method and the model predictive control method are used to design the intelligent collaborative controller respectively.The simulation results show that the fuzzy control cooperative controller can achieve high precision under a single driving condition.However,the tracking accuracy is not high under complex changing conditions,while the model predictive control method does not require high precision,and it is suitable for non-linear and coupling vehicles.The system finds that the cooperative controller designed by model predictive control is better than the former in accuracy.Therefore,in a single driving condition,the fuzzy control collaborative controller is selected,while in a complex driving condition,the model predictive collaborative controller is selected.(3)Analyze the safety distance in the platoon,discuss the possible situations in different working conditions by enumeration method,and finally summarize the theoretical minimum safety distance formula.After that,the safety distance formula is used to establish a multi-vehicle platoon model.Finally,consider the cut-in condition in the actual situation,when V2V communication is obtained that the short-speed vehicle suddenly appears or is transferred at a long distance in front of the current lane where the queue is located.In order to ensure the stable,safe driving and the fuel economy of the vehicle,the cooperative transition controller is designed.Through simulation experiments,it is found that the controller can make a good platoon to merge with the low-speed vehicles in front,forming a new platoon for stable driving.
Keywords/Search Tags:Smart car, Cooperative control, Fuzzy control, Model predictive control, Vehicle to Vehicle communication
PDF Full Text Request
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