Modeling And Cooperative Control Of Heterogeneous Vehicle Platoon System With Multiple Time Delays

It has brought environmental pollution,traffic congestion,safety accidents and other problems to the society with the rapid development of the automobile industry.Connected and automated vehicle(CAV)has been promoting the development of transportation industry towards intelligence,connection and electrification.The mixed traffic flow including both CAVs and human-driven vehicles(HDVs)is inevitable with the gradual development of connected transportation.In the mixed traffic flow,CAVs and HDVs drive cooperatively through vehicle-to-vehicle communication,which is of great significance to alleviate traffic congestion,improve traffic capacity and improve driving safety.Therefore,we arrange the continuously CAVs in the mixed traffic flow into cooperative adaptive cruise control(CACC)system,and then arrange the CACC system and adjacent HDVs into connected cruise control(CCC)system.Firstly,a unified hierarchical framework consisting of an observing and a tracking layer is proposed for platoon control of connected vehicles with both heterogeneous model structures and parameters for the first time.This framework separates neighboring information interaction from local dynamics control,which helps address the parameter and structure heterogeneity in vehicle dynamics.Within the proposed framework,an asymptotically convergent observer is designed,and the necessary and sufficient conditions for the system stability accounting for communication time delay are derived by using the Routh-Hurwitz criterion,and the upper bound of admissible communication time delay is derived.Furthermore,a finite-time convergent observer is designed.On this basis,the string stability of heterogeneous vehicle platoon is analyzed and the relative error transfer function is derived to guide the selection of controller gains.Then,a mix vehicle platoon system is constructed considering the communication time delay,sensor measurement time delay and driver response time delay,which provides a unified framework for mix vehicle platoon modeling in general traffic scenarios and characterizes CAVs’ number,spatial distribution and information interaction.Furthermore,the state feedback controllers are designed for the CAVs.On this basis,the characteristic equation with multiple time delays and the sufficient conditions for the closed-loop system stability are derived analytically.In addition,it provides a general method to explicitly solve the characteristic equation for a class of mix vehicle platoon systems.Finally,the experimental scheme of the above research content is designed.The proposed theory is fully verified by numerical simulation and field experiment.This paper improves and deepens the research on vehicle platoon control.It provides theoretical support for practical engineering application and has a good market promotion and application prospect.