Research On Distributed Platoon Of Connected And Automated Vehicles In Lane Reduction Environment

Various congestion traffic is easily formed near uneven road sections represented by reduced lanes.In addition to waste of energy consumption caused by traffic congestion,it also generates additional pollution.Traditional artificially driven vehicles have less information about other cars and the driving environment of the vehicle,and cannot make good use of the information.As a core composition of the intelligent transportation system,the intelligent networked vehicle integrates a variety of emerging technologies,which can more effectively obtain the vehicle environment information and make better judgments and control.The formation of intelligent networked vehicles can effectively increase lane throughput and reduce environmental pollution.Therefore,the research of multi-vehicle formation on intelligent networked vehicles has theoretical and practical application value.This paper studies the formation of intelligent networked vehicles in the environment of reduced lanes,designs a consensus protocol under single cluster and multiple clusters,and proposes a collaborative formation framework and a collaborative formation strategy.Related research work is as follows:Aiming at a single cluster formed by multiple vehicles on multiple lanes,using the multi-agent leader-following method for reference,the following vehicles on each lane in the cluster fully consider the role of the leading and trailing vehicles in the cluster and related neighboring vehicles.Relations,a single-cluster formation control consistency protocol is designed,and the Lyapunov method is used to conduct a theoretical analysis of the control protocol.The simulation experiment verifies that the proposed protocol can make the multi-vehicle clusters converge consistent.For multiple clusters on multiple lanes,on the basis of considering the relationship between the following cars in the cluster,the relationship between the cluster leader car and other cluster leader cars and related following vehicles is considered,and the design is based on the consistency of multi-cluster formation control protocol.Using Routh’s stability theory and Lyapunov method,the control protocol is analyzed theoretically.The simulation experiment results verify that the proposed protocol can make multiple multi-vehicle clusters converge uniformly.In the study of vehicle traffic in an environment with reduced lanes.A cooperative formation framework and cooperative formation strategy are proposed.The collaborative formation framework introduces a hierarchical structure system that solves the problem of lane reduction under the Internet of Vehicles.The cooperative formation strategy can be decomposed into four sub-strategies: cluster initialization,vehicle entry,strategy selection,and queue driving.Among them,the strategy selection sub-strategy can select two different formation strategies according to different cluster traffic,and use the intra-cluster and inter-cluster formation consistency protocol to coordinate cluster convergence.The simulation experiment results show that the proposed cooperative formation strategy can make the state of multi-vehicle cluster vehicles converge uniformly under different cluster traffic volumes,and reduce intersections through lanes.Experimental results show that,compared with other cooperative lane-changing models,vehicle clusters can increase road throughput and reduce transit time under the control of the proposed protocol.