Research On Following Control Of Connected Vehicle Platoon

The increasing number of vehicle ownership brings convenience to people travelling,but also brings many problems such as traffic jams,accidents and rising energy consumption.With the rapid development of intelligent driving technology and V2V(Vehicle to Vehicle)technology,the control technology based on vehicle platoon driving has potential advantages in alleviating the above problems,and it is becoming the main research by researchers.The vehicle platoon driving in connected environment means that the platoon exchanges the driving data between vehicles in real-time through the network to ensure stable and safe driving.Excessive workshop distance during platoon following reduces road usage and increases the risk of vehicle lane change insertion;Too low workshop distance reduces the driving experience and even involves the collision risk.Based on the above problems,a comprehensive spacing strategy is proposed,and a feedback controller considering vehicle speed and spacing error is designed and studied.First of all,the longitudinal motion process and the platoon motion model of the vehicle is designed.A comprehensive spacing strategy which considering the combining emergency braking spacing strategy and fixed time interval spacing strategy is proposed.A controller with speed error and spacing error as input is designed and its stability is proved.Simulation of the proposed integrated spacing strategy is verified by building a platoon model based on Simulink.The simulation results show that the proposed spacing strategy can effectively maintain the platoon stability while ensuring the internal stability in the platoon,and has a good following effect.Secondly,in order to consider the influence of vehicle dynamics characteristics on the spacing strategy,a vehicle hierarchical control structure is selected to build a lower-level controller based on the vehicle inverse longitudinal dynamics model.PreScan software is used to build a simulation scenario in the connected environment,and based on the Virtual Platoon test method,the driving platform modified by the real vehicle is connected to the simulation scenario and controlled by the driver in real-time.Finally,different driving conditions are designed and simulated,the stability and safety of platoon following are analyzed.The simulation results show that the proposed comprehensive spacing strategy takes into account the advantages of the fixed time interval spacing strategy and the emergency braking spacing strategy,and the comprehensive spacing strategy can maintain a lower following distance under the premise of ensuring safety,guarantee the single vehicle stability and platoon stability within the platoon under all working conditions.