Research On Cooperative Control Algorithm Of Vehicle Platoon Based On Multi-agent Syste

With the increase of vehicle ownership,traffic congestion,traffic accidents and environmental pollution have become a problem facing our development.Vehicle cooperative control is an important part of intelligent transportation system,which aims to realize efficient,safe and environmental operation of traffic flow through mutual communication and cooperation between vehicles.Collaborative vehicle control plays an important role in solving traffic congestion,increasing traffic volume,improving traffic efficiency and other aspects.Its purpose is to ensure the safety of the premise,through the communication between vehicles and control algorithm protocol,multiple vehicles at the same speed and small workshop distance,in the form of a queue.Collaborative control of vehicles,an important part of intelligent transportation system,plays an important role in solving traffic congestion problems,increasing traffic volume,improving traffic efficiency and other aspects.Its purpose is to ensure the safety of the premise,through the communication between vehicles and control algorithm protocol,multiple vehicles at the same speed and small workshop distance,in the form of a queue.In the actual driving environment,the communication environment between vehicles is not an ideal communication environment,which often has the interference of communication noise.However,the existing research results of vehicle collaborative control do not consider the communication noise factor.In addition,while considering noise,the problem of communication bandwidth waste caused by continuous communication between vehicles has not been solved,and there are few researches on intermittent communication.Based on this,aiming at the noise environment and intermittent communication,this paper designs the vehicle state consistency control algorithm protocol to ensure the stability of the multi-vehicle system.In this paper,Markov switching is used to describe the topology change caused by vehicle lane change.The specific work of this paper is as follows:(1)Aiming at the noise interference existing in the communication between vehicles,this paper designs a consensus algorithm protocol which can eliminate the noise interference,and analyzes the stability consensus of the designed algorithm to the system.In the collaborative control of queue,the state information between vehicles interacts.Through the designed algorithm protocol,it can be clearly seen in Matlab simulation that the state of all vehicles can finally achieve consensus,so as to complete the formation.(2)On the basis of noise interference,the dynamic event driving mechanism is introduced to avoid continuous communication of multi-vehicle collaborative system,resulting in resource waste.The consensus algorithm protocol with dynamic event-driven conditions is designed,and the stability consensus analysis of vehicle system is realized when the information is updated intermittently.For driving time interval,Zeno-free behavior is proved.Finally,the Matlab simulation experiment is compared with the static event drive,which further reflects the advantages of dynamic event drive.Intermittent communication can reduce the interference of communication noise to a certain extent.(3)Considering that the queue topology structure is changed due to the actual vehicle lane change,Markov random switching topology is used to describe the topology switching situation,and the design of switching topology can make the system achieve a stable consensus algorithm protocol.In the above two cases,the research of lane change is extended respectively.In the case of switching topology,the vehicle system can also achieve stability and consensus under the algorithm.