Research On Robust Longitudinal Platoon Control Of Connected Electric Vehicles In V2X Environment

The electric vehicles in longitudinal platoon can receive the information of other vehicles through sensors and V2X wireless communication network.Then the vehicle can adjust its own driving state so as to keep the vehicles platoon in a desired configuration.The platooning of electric vehicles has the potential to improve traffic capacity and reduce fuel consumption,which is one of the significant research branches of intelligent transportation system.V2X wireless communication can extends the information perception of vehicles in platoon.On the other hand,the inherent defects of wireless communication network,such as communication delays and losses,will affect the control performance of vehicle formation.In addition,network security problem also need to be considered in the wireless communication.In this paper,we take the longitudinal electric vehicles platoon as the research object.Considering the communication delays,losses and deception attacks in wireless communication network,this paper investigates the robust control problem of vehicles platoon system.The main research contents of this paper are as follows:1)Robust control of vehicles platoon with communication delaysFirstly,considering the influence of communication delay on the vehicles platoon system,an adaptive H∞ control method is designed.Secondly,the asymptotic stability and robustness of the platoon system are analyzed based on Lyapunov stability theory,and an algorithm to construct the controller is presented.Then,a sufficient condition for the string stability of the platoon system is given.Finally,the feasibility and effectiveness of the proposed method are verified by simulation experiments.2)Vehicles platoon robust control under communication intermittentConsidering the communication intermission of V2X wireless network in the platoon system,a vehicles platoon robust control strategy is designed based on the model-dependent average dwell time.By designing a switching strategy with model-dependent average dwell time,the sufficient conditions for exponential stability and exponential L2 performance of the platoon switching system are analyzed.Furthermore,the linear matrix inequality(LMI)for calculating controller gain is given.Simulation results show that the proposed method is effective.3)Vehicles platoon event trigger control under deception attacksConsidering the deception attacks in the information transmission process of vehicles platoon,an adaptive event-triggered control method is proposed.Firstly,an adaptive event-triggered strategy is designed to improve the utilization of communication resources,in which the trigger threshold can be dynamically adjusted according to the vehicle state information.Secondly,based on the designed event-triggered strategy,and considering the deception attacks in network communication,an platoon event-triggered control method is proposed.Then,the asymptotic stability of the platoon system is analyzed based on Lyapunov stability theory,and a method to calculate the controller gain is given.Finally,the simulation results show that the proposed adaptive event-triggered control method can realize the vehicles platoon control under deception attacks,and has a good performance in saving communication resources.