Study And Simulation Of Connected Vehicle Platoon Control By Considering The Vehicle Dynamics

Multiple vehicles in a platoon driving mode can help improve the capacity of the road while reducing fuel consumption,which is more economical and environmental friendly.With the development of intelligent connected vehicles,vehicle platoon control has become possible.In a networked environment,vehicles equipped with vehicle-to-vehicle and vehicle-to-road communication equipment can interact with other vehicles or roadside equipment and cloud equipment,providing powerful advantages for vehicle platoon driving decisions.The current research on vehicle platoon control mainly considers kinetic information to design platoon control algorithms.Based on this,this thesis studies the influence of vehicle dynamic information on vehicle platoon,and designs the controller by considering throttle opening information and brake pressure information,respectively.Use Pre Scan simulation software to verify the effectiveness of the proposed controller.The main work of this thesis includes:1.Aiming at the acceleration scene of connected vehicle platoon,a connected vehicle platoon controller considering the throttle opening information is proposed.This paper designs a vehicle platoon controller that takes into account the position difference,speed difference,car-following interaction and throttle opening difference between vehicles.The system transfer function is obtained with the help of Laplace change,the stability of the vehicle is analyzed according to the Routh criterion,and the string stability of the platoon is analyzed according to the stability condition of the platoon.The effectiveness of the proposed controller is verified in Pre Scan.Under the action of the proposed controller,the consistency between the speed and the distance between vehicles can be achieved.The proposed control algorithm is not only effective,but also meaningful.2.Aiming at the braking scene of connected vehicle platoon,a connected vehicle platoon brake controller considering brake pressure information is proposed.First,according to the target stop position,a separate brake controller is designed for the lead vehicle.Then for following vehicles,a vehicle platoon brake controller is designed that takes into account the position difference,speed difference,car following interaction and brake pressure difference between the vehicles.The system transfer function is obtained with the help of Laplace change,the stability of the vehicle is analyzed according to the Routh criterion,and the string stability of the platoon is analyzed according to the stability condition of the platoon.The effectiveness of the proposed controller is verified in Pre Scan.Under the action of the proposed controller,the vehicle queue can stop at the target stop position,so the proposed control algorithm is effective.3.Pre Scan software is used to build a vehicle platoon control simulation platformIn order to further verify the effectiveness of the proposed controller,this thesis will build a vehicle platoon control simulation platform based on Prescan software.First,the traffic scene is set up in Prescan,and then the control algorithm is loaded in Simulink.Then,the human meachine interface is developed by using Matlab interface programming to display the status information of the vehicle platoon,and the suggested speed obtained according to the control algorithm is displayed for the driver to operate.Finally,G29 simulator is accessed to the Pre Scan,which includes a steering wheel and pedals.The driver can manipulate simulator,watch 3D animation and human meachine interface to simulate the operation of the vehicle.The proposed control algorithm is used to conduct simulation experiments,and the experimental results prove the effectiveness of the proposed controller again.