Model Predictive Control Of Intelligent And Connected Commercial Vehicle Platoon For Energy Consumption Optimization

With the rapid development of transportation industry,the proportion of energy consumption of commercial vehicles on highways is increasing,and environmental pollution and energy crisis are becoming increasingly serious.Therefore,researchers should pay more attention to effectively reducing the energy consumption of commercial vehicles.Intelligent and connected commercial vehicles can effectively reduce energy consumption by platoon driving.However,due to uncertain model parameters,sensor limitation and communication delay in practice,the vehicle platoon control performance has been influenced seriously,which leads to the increase of energy consumption.In view of this,the two-layer model predictive control platoon algorithm for commercial vehicles is proposed in this paper.The optimal platoon speed curve is obtained based on road conditions at the planning layer,and the optimal speed curve is tracked at the control layer.This guarantees the platoon stability at the planned optimal speed.The main research contents of this paper are as follows:1.Under uncertainty of model parameters,a robust model predictive platoon control algorithm is designed to achieve the optimal control for energy consumption of commercial vehicles.The optimization index is set as the total engine output instead of energy consumption to obtain the optimal platoon speed.Moreover,the robust model predictive control algorithm based on LMI is used to design a state feedback controller to track the optimized speed.This effectively overcomes the influence of uncertain model parameters and achieves the stability of the commercial vehicles.The effectiveness of the algorithm is verified through simulations.2.Under sensor-limited condition,a platoon parametric model predictive control algorithm is designed for the optimal commercial vehicle platoon control of energy consumption.The Euler’s theorem is applied to transform the speed optimization problem in the time domain into the spatial domain.Energy consumption and transportation efficiency are taken into consideration.A parametric platoon switching controller is designed to track the optimal platoon speed,which effectively avoids the influence of the limited distance sensor and ensures the platoon safety driving.The effectiveness of the proposed algorithm is verified through simulations.3.Under communication delay in heterogeneous commercial vehicle platoon,a model predictive optimal control algorithm is proposed for platoon energy consumption with communication time delay.the optimized speed is obtain based on the average state equation and average fuel consumption model.Then,the platoon tracking control algorithm based on the waiting mechanism is designed to obtain the upper bound value of communication delay through stability analysis.This effectively reduce the impact of communication delay.The effectiveness and feasibility of the proposed algorithm is verified through simulations.