Cooperative Platoon Control For Connected Vehicles On Curved Road

With the rapid development of social economy and the rapid increase of vehicle ownership,the traffic system is faced with increasingly severe and complex problems.It is an effective solution to relieve the pressure of traffic system to form a platoon of multiple vehicles.Therefore,how to carry out theoretical and practical study on vehicle platoon and how to relieve traffic pressure or even effectively avoid traffic jam by scientific methods is a hot topic in vehicle platoon control study.To this end,this thesis systematically studies the issue of vehicle platoon control in a curved road environment.The specific contents include: Firstly,considering the road structure and the coordinated control mode of the longitudinal and lateral directions,a vehicle platoon collaborative control algorithm with the longitudinal and transverse direction switching factor is proposed for the curved road environment.Secondly,considering the influence of vehicle following behavior on vehicle platoon driving,a nonlinear vehicle platoon longitudinal and lateral coordinated control algorithm is proposed.Finally,a miniature intelligent connected vehicle experimental platform is built to verify the effectiveness of the proposed vehicle platoon control algorithm to a certain extent.The main content of the thesis includes the following three points:1.Regarding the curved road environment,a kind of vehicle platoon cooperative controller is proposed,which considers the longitudinal and lateral switching control modeFirst,the third-order vehicle model is used in this thesis to describe the vehicle states,and the Predecessor Follower topology is used to describe the communication connection between vehicles.Considering the influence of curved road structure on vehicle platoon control,a vehicle platoon cooperative control algorithm with longitudinal and lateral switching factors is designed,which makes the vehicle platoon composed of multiple vehicles can drive stably on a single longitudinal road,a single lateral road and a curved road.Secondly,the stability and consistency of the proposed platoon cooperative control algorithm are analyzed by the Routh-Hurwitz stability criterion,and the stability conditions of the proposed algorithm are obtained.Finally,the complex road simulation scenarios with a curved structure are designed,and the leader vehicle is in different motion states to perform numerical simulations on the driving situation of the vehicle platoon.The simulation results show that in the simulated road scene,there is a maximum tracking error of 0.4m in the longitudinal direction and 0.62 m in the lateral direction of the vehicle platoon.The effectiveness of the proposed vehicle platoon cooperative controller is well verified in the curved road environment.2.Aiming at the curved road environment,a nonlinear coordinated control algorithm for longitudinal and lateral platoon is proposed,which considers the vehicle following behavior and the vehicle state informationsThis study comprehensively considers the impact of vehicle car following behavior and status information on vehicle platoon.For a curved road environment,a nonlinear vehicle platoon longitudinal and lateral cooperative control algorithm is proposed to ensure that all vehicles in the vehicle platoon maintain the desired safe distance and consistent velocity.Furthermore,the stability and consistency of the proposed controller are analyzed by using Routh-Hurwitz stability criterion,and the stability conditions of the proposed controller are obtained.Finally,two kinds of complex road simulation scenes with curved structure are designed to simulate the driving condition of vehicle platoon.The simulation results show that in the two simulation scenarios,the maximum tracking error of vehicle platoon in the curved road is 0.2m,which verifies the effectiveness of the proposed controller for vehicle platoon control.3.Build a miniature intelligent connected vehicle experimental platform to verify the effectiveness of the proposed vehicle platoon control algorithmIn this study,firstly the hardware platform and the software platform such as server and database are built to form the necessary conditions for the experiment.The proposed vehicle platoon controller is loaded on the miniature intelligent connected vehicle experimental platform to control the vehicle platoon composed of the miniature intelligent connected vehicles,and the data generated from the experiment is exported to Matlab for drawing.Through the analysis of the experimental results,it can be seen that the miniature intelligent connected vehicles can form a stable vehicle platoon at a close to the set desired distance and velocity.Therefore,the validity of the proposed vehicle platoon controller can be verified to a certain extent on the miniature intelligent connected vehicle experimental platform.