Research On The Integration Of Communication And Control In Vehicle Platoon

Vehicle platoon is an important application scenario of automatic driving,which is of great significance to improve vehicle transportation efficiency,traffic efficiency and reduce energy consumption.Vehicle platoon refers to the virtual connection of some vehicles to maintain a combination of geometry,destination and direction.In the platoon,in order to realize the information exchange between vehicles,vehicles are usually connected by wireless communication.In the platoon,in order to maintain a certain geometry,destination and direction,it is essential to control the inter-vehicle distance and matain vehicle safe.By integrating the communication and control of vehicle platoon,this paper reduces the speed error,acceleration error and inter-vehicle distance error in the process of the platoon travel,improves the platoon performance and ensures the platoon safe.This paper studies the application of long platoon,intersection platoon and electric vehicle platoon.Firstly,for the expansion problem in the process of long platoon travel,starting from the matching problem of communication topology and longitudinal control,this paper studies the integration of the predecessor leader following(PLF)topology and cooperative adaptive cruise control(CACC)in vehicle platoon.Secondly,in order to alleviate the current situation of road congestion and improve urban traffic efficiency,starting from the factor affecting traffic congestion and vehicle safe,this paper studies the intersection proaction platoon and green wave cooperation integrating communication and control.Finally,for the platoon in automatic driving application,starting from optimizing the communication energy consumption of electric vehicles,this paper studies the energy optimization of the integration of communication and control.The main contents and innovations of this thesis are as follows:Aiming at the mismatch between communication topology and longitudinal control in a long platoon,a granulation method is proposed to integrate the communication topology and CACC platoon to increase the transportation efficiency.For the PLF topology,the communication range of the leader vehicle in cooperative adaptive cruise control is limited,which limits the number of vehicles in a long platoon.In this paper,the platoon communication topology matrix is reduced by using the granulation method of artificial intelligence,and the granulation matrix is obtained.Then the platoon topology is arranged according to the granulation matrix,which overcomes the mismatch between communication topology and vertical control.Through the MATLAB simulation of communication and control integration of platoon,the advantages of granular topology in scalable platoon are verified from the consistency and scalability of platoon.For urban road congestion,this paper puts forward the scheme of proactive platoon based on C-V2X to alleviate the traffic congestion at a single intersection.In order to improve the traffic efficiency of large areas,this paper puts forward the cooperation scheme of platoon green waves.Proactive platoon integrates the communication quality of high reliability and low delay and the centralized control with roadside communication unit as the platoon leader.The communication and control model of heterogeneous vehicle platoon under congestion is established.Then,through simulation analysis,the optimal vehicle spacing range is obtained under the conditions of ensuring platoon communication quality,platoon safety and maximizing intersection throughput.Finally,the optimized inter-vehicle distance is added to the green wave cooperation model,and the platoon green wave cooperation model is established.The optimal ratio of platoon traffic flow is obtained through VISSIM simulation software.It realizes the cooperation from single intersection vehicle platoon to multiple intersection platoon,and improves the urban traffic efficiency.Aiming at the limited cruise range of electric vehicle platoon,a communication power control scheme driven by road curvature is proposed to save the energy consumption of electric vehicle communication system and improve the cruise distance of vehicles.In a stable vehicle platoon,the communication transmission power of the head vehicle is dynamically adjusted to reduce the energy consumption of the communication system,so as to reduce the battery energy consumption and increase the cruise range of the electric vehicle platoon.Firstly,the car like model and workshop error model of a single vehicle are established in this paper.Then,the vehicle platoon model under curved road and the communication scheme driven by road curvature are established.The idea of road curvature driving comes from the difference between the controlled vehicle spacing and the communication vehicle spacing when a stable platoon passes through a curved road.In vehicle platoon,the communication power of platoon leader is often set according to the controlled spacing strategy.If this scheme is adopted on the curved road,it will waste the energy consumption of electric vehicle battery.Therefore,we set the communication power of platoon leader according to the curvature of the curved road,so as to save battery energy.Finally,the simulation results show that the proposed scheme has advantages over the fixed communication power scheme and the maximum radius of curvature communication scheme.