Research And Experimental Verification On Hierarchical Control Of Heterogeneous Connected Vehicle Platoon

In the era of rapid progress of intelligent transportation system,this paper studied the design of control algorithm for intelligent connected vehicle platoon.Then,the stability of the control algorithm is analyzed.Meanwhile,numerous numerical simulation experiments were carried out.Finally,a real vehicle simulation experiment platform was built,afterwards,numerous real vehicle experiments were carried out to verify the effectiveness of the control algorithm.Furthermore,it provided a large number of reliable theoretical basis for the intelligent connected vehicle platoon control algorithm,for the purpose of easing traffic congestion and avoiding traffic accidents.In a word,the main contents of this study include:(1)For the problem of heterogeneous vehicle platoon control in the connected environment,a nonlinear distributed vehicle platoon control algorithm was designed.Based on the third-order model,a distributed nonlinear platoon control algorithm was designed by considering the influence of heterogeneous vehicle platoon and car-following interactions.Then,the Routh-Hurwitz theorem was used to analyze the stability of the algorithm.Besides,numerous simulation experiments were conducted.(2)For the problem of heterogeneous vehicle platoon control in the connected environment,a hierarchical control algorithm were proposed.In the framework of hierarchical control,based on the above third-order vehicle dynamics model,the distributed nonlinear platoon control algorithm was designed.Meanwhile,the influence of heterogeneous delay was considered in the controller,which was taken as the high-level controller in the hierarchical control framework.Then,considering the disturbance of wind speed and road angle,based on dynamics model,an adaptive sliding-mode control algorithm was designed as the low-level controller.In the end,the coupling relationship between the two controllers was established.In addition,the stability of the high-level controller and the asymptotic tracking performance of the low-level controller was analyzed.Finally,numerical simulation experiments were carried out.(3)The real vehicle experiment platform was established,and numerous real vehicle experiments were carried out.A real vehicle verification experiment platform was established in real environment.Then,V2 X communication device was used to establish a connected communication environment between vehicles.High-precision differential GPS is used to obtain real-time kinematics state information of vehicles.In addition,using a tablet as a human-computer interaction interface(HMI)to assist the driver in driving the vehicle,the real vehicle experiments were carried out,and the effectiveness of the high-level control algorithm in hierarchical control was verified.