A Decentralized Variable Structure Approach To Cooperative Driving For Platoon:Modelling、Simulation And Control

Cooperative driving for a platoon of vehicles is an important research topic in intelligent vehicle-highway systems. Taking both road traffic safety and efficiency into consideration, it organizes vehicles into multi-lanes, flexible platoon by using cooperative maneuvers under different traffic conditions, thus to increase traffice capacity and ease traffic congestion. Nowadays, researches on cooperative driving for platoon focus on advanced vehicle control and assistance technologies, and road to vehicle communication is more mature, which has been used in more traffic management system, such as dynamic guidance, ETC and so on, but as the driving behavior diversity and vehicle high-speed mobility, vehicle to vehicle communications are under test. Meanwhile, the cooperative vehicles platooning system is a generalized decentralized system, and its theories and methods are still in continuous development and improvement. Therefore, it is very necessary to carry out system testing and verification by using various traffic simulations and experimental technologies. This dissertation uses hardware-in-the-loop simulation technology to carry out modeling, simulation and control of cooperative vehicles platooning system, by means of the roadway mechatronic testbed built by Intelligent Transportation Systems Research Center of Wuhan University of Technology. The main content is as follows:In the first place, the hardware-in-the-loop system of cooperative vehicle platoon was designed. After introducing the road-traffic electromechanical testbed, this section outlined the composition and functions of the hardware-in-the-loop system, and gave explaination in detail in system architecture, platoon support information collection, and information interaction between road and vehicle, as well as decentralized variable structure control strategies of cooperative vehicle platoon.In the second place, studying on one dimensional platoon driving on the straight road was carried out. This section began with the proposed modeling and control problems about one dimensional platoon, and made the control system model of one dimensional platoon, including speed control model and spacing control model. Then, vehicle platoon cruising controller and following controller were designed by using decentralized sliding mode variable structure control method, respectively. Meanwhile, the stability conditions of individual vehicle and/or platoon was analyzed by using Lyapunov stability theory. Afer that, the effectiveness and stability of the controller designed were verified in the MATLAB environment.In the third place, study on two dimensional platoon driving on the curve road was carried out. This section began with the analysis of the longitudinal and lateral coupling influence, and proposed modeling and control problems about two dimensional platoon. Then, aiming at lane changing maneuver, overtaking maneuver and lane keeping maneuver, the longitudinal and lateral coupling system model of two dimensional platoon was made, including longitudinal control model, lateral control model and yaw control model, and the coupling control laws were designed by using decentralized sliding mode variable structure control method. Meanwhile, the stability conditions of individual vehicle and/or platoon was analyzed by using Lyapunov stability theory. Afer that, the effectiveness and stability of the control laws were verified in the MATLAB environment.In the last section, the hardware-in-the-loop experiments that cooperative vehicle platoon were driving on the road-traffic electromechanical testbed had been carried out. The control performance of the hardware-in-the-loop system with its cruise and following maneuvers were investigated preliminarily. This dissertation has provided a theoretical and experimental basis to the further research on decentralized variable structure control for cooperative vehicle platoon.