Simulation Study On Vehicle Queue Control Of Predecessor-leader Following Topology

In intelligent driving,vehicle queue control can effectively improve traffic utilization,reduce fuel consumption,and increase vehicle driving safety.The existing vehicle queue control in China takes less account of the overall movement trend of the vehicle queue,resulting in the unsatisfactory overall control effect of the queue,and lacks the research on the vehicles outside the queue to join the existing queue.For this reason,this paper proposes a vehicle queue control method based on the front-pilot vehicle following topology considering the vehicle queue movement trend,and studies the control scheme of vehicles outside the queue joining the existing queue.Firstly,the distributed control scheme is selected based on the analysis of the overall control scheme of vehicle queue.By analyzing the force of the vehicle,the longitudinal third-order dynamics model of the vehicle and the vehicle dynamics model based on tracking error is established,by analyzing the common communication topology of the vehicle queue,the predecessor-leader following topology is selected,and the constant headway strategy is selected.Secondly,the hierarchical control scheme is selected for the single vehicle control,the longitudinal controller of the queue is designed according to the hierarchical control scheme,the upper controller considering the movement trend of the vehicle queue is designed based on the distributed model predictive control algorithm,the lower controller of the single vehicle is designed according to the vehicle longitudinal inverse dynamics model,and the PID algorithm is used to compensate the error of the lower controller,and the lower controller is verified.Furthermore,this paper analyzes the situation of vehicles outside the queue joining the existing queue,designs the corresponding lane change process,designs the quintic polynomial lane change track algorithm combining passenger comfort and lane change efficiency,optimizes the quintic polynomial lane change time,and designs the LQR track tracking controller according to the vehicle dynamics model based on tracking error.Finally,this paper uses Carsim and Simulink to build a vehicle queue control simulation platform.The simulation results show that the distributed model predictive controller based on the front-vehicle and pilot-vehicle following topology designed in this paper has better control performance when the vehicles are in queue.Compared with the traditional front-vehicle and pilot-vehicle model predictive controller,the maximum spacing error is smaller,and the performance is better in the aspect of queue stability,and it can also maintain good performance under emergency braking conditions.The simulation results prove the effectiveness of the lane change scheme of vehicles outside the queue joining the existing vehicle queue,and the track tracking controller can track the lane change track well.