Joint Design Of Information Flow And Vehicle Controller For Platooning

Urban traffic congestion is becoming a difficult problem to control,it is urgent to improve road capacity and reduce travel time and traffic congestion.More road construction is not always feasible and may not even ensure good benefits under the restrictions of land supply and environmental protection requirements.Improving the road capacity in the existing road system has become an effective way to alleviate traffic congestion.By reducing deceleration time and reducing the distance between vehicles,vehicle platoon can help achieve faster and more comfortable movement with higher energy efficiency.As an effective method to improve traffic efficiency,vehicle platoon control has attracted extensive attention.Vehicle platoon system is composed of two or more vehicles traveling at the desired cruise speed and distance.Vehicle platoon needs the communication support of the vehicle network between the vehicles and the roadside units.The main objective of platoon control is to ensure that all vehicles in the platoon move at the same speed with the required safe distance between neighbors.Existing researches naturally divide a platoon into four parts of network control:node dynamics,information flow topology,distributed controller and geometric configuration/vehicle spacing strategy.The distributed controller is the part which is responsible for control,and the information flow topology is the part which is responsible for communication.Vehicle platoon system can be modeled as a networked control system.Considering the complex scenarios in reality,the joint research of control and communication is necessary.Existing researches on the integration of communication and control of platoon system mostly focuses on the platoon control under the fixed topology,which does not consider the possible change of topology in reality;And researches on the influence of communication on platoon,mostly use simple controller types.there is few researches on the interaction between communication and controller.In view of the above problems,this paper carries out the research on the integration of communication and controller design of vehicle platoon which is a typical future vehicle networking enhancement application.The main research contents include:(1)A scheme of distribute controller with switchable information flow topology applied to different road environments is designed,in which the vehicle dynamics model uses a third-order nonlinear vehicle dynamics model,and the controller uses the model predictive control model.It ensures that the platoon vehicles can still run as a whole stable platoon when the communication network changes.A simulation is made to verify the scheme.(2)Because of the problems of difficult to use and high learning cost of the existing platoon simulation platform,a web version vehicle platoon simulation platform based is designed and developed,which encapsulates the road,vehicle and network simulation software.It also encapsulates the main development work in the simulation work,simplifies the simulation operation,and facilitates the development of simulation experiments in the follow-up research.The simulation research on the influence of communication topology and communication quality on platoon performance is conducted with the developed simulation platform.