Distributed And Collaborative Control For Vehicular Platoon

Vehicles platooning have the advantages of improving road capacity,improving road driving safety,reducing fuel consumption and exhaust emissions,and it has attracted widespread attention from researchers.In the study of vehicle platoon control,the control algorithm is the core of the vehicle platoon control system,which is critical to the stable operation of the vehicle platoon.The spacing strategy in the vehicle platoon also affects the driving safety and road utilization of the vehicle platoon.In the vehicle platoon control system,how to construct a suitable control algorithm realistically,how to adopt a reasonable spacing strategy,how to consider vehicle platoon system modeling under uncertain communication network,and how to establish a control model of a mixed vehicle platoon consisting of connected automated vehicles and human-driven vehicles driving on the road,all of which require in-depth research.The main work of this thesis is as follows:1.First,the related knowledge of multi agent system is briefly introduced.Secondly,the modeling framework of vehicle platoon control system based on multi agent consensus control is presented,and the function and significance of each module in framework are introduced.Then,to analyze the stability of time-delay system,time-delay system theory,Lyapunov stability theory,matrix theory and related mathematical knowledge are introduced.Finally,the vehicle platoon simulation software PLEXE is briefly introduced.2.For a homogeneous vehicle platoon consisting of connected automated vehicles,we establish a homogeneous vehicle platoon dynamics model with a fixed communication topology,consider the vehicle’s actuator saturation limit,and adopt a variable time headway(VTH)strategy as the spacing strategy to construct homogeneous vehicle platoon control distributed consensus control algorithm.The Lyapunov-Krasovskii method is used to derive the stability theorem for the vehicle platoon system,and then the simulation software PLEXE is used to analyze and verify the control performance of the homogeneous vehicle platoon control system under fixed topology in different traffic scenarios.3.For uncertain communication network of homogeneous vehicle platoon,we establish a homogeneous vehicle platoon control system model under the switched communications topology,consider the vehicle’s actuator saturation limit,and adopt the VTH strategy as the spacing strategy to construct homogeneous vehicle platoon distributed consensus control algorithm under the switched communications topology.The Lyapunov-Krasovskii method is used to derive the stability theorem for the vehicle platoon system.Then the simulation software PLEXE is used to analyze and verify the control performance of the homogeneous vehicle platoon control system in uncertain communication networks.4.For the mixed vehicle platoon composed of connected automated driving vehicles and the human-driven vehicles,the mixed vehicle platoon control system model is developed.Considering that the control characteristics of connected automated vehicles and human-driven vehicles are different,so we adopt two different control models for them.The Lyapunov-Krasovskii method is used to derive the stability theorem for the vehicle platoon system.By employing the vehicle platoon simulation software PLEXE,the paper analyzes the influence on the performance of the mixed platoon control system under the conditions of different human-driven vehicle penetration rates,different types of vehicle sequence and different driver response delays.