Study On The Control Of Longitudinal Platoon Based On The Communication Network

The throughput of vehicles on highways can be greatly increased by forming vehicle platoons.The control law that maintains stable operation of a platoon is dependent on the lead vehicle's velocity and acceleration transmitted by wireless communication network.Communication networks generally introduce packet dropout and delay.However,these communication faults are not typically taken into account in controller designing.Therefore,this article studies the control problem of longitudinal platoon when the lead vehicle information transmits through the wireless communication network with packet dropout and time-delay.The main research works are as follows:Firstly,give an introduction about the vehicle longitudinal and lateral control and integration control,especially the development of the longitudinal platoon control.Secondly,establish a longitudinal dynamic model of the vehicle and the structure model of a platoon.A hybrid control model is established while considering the lead vehicle information effected by wireless communication network.The hybrid model takes full account of platoon and network to optimize the exisinting model.Thirdly,packet dropout process is considered when the lead vehicle information transmits through wireless network.A theorem is proposed to ensure the model mean-square stability.The dynamic output feedback controller is constructed based on a LMI condition.The performance of platoon affected by the acceleration changes from the lead vehicle is considered.A controller is designed with packet dropout and disturbance.At last,the performance of the designed controller is verified by a simulation.Finally,analyze the effects of the lead vehicle communication delay on string stability in vehicle platoon.Furthermore,considering the quantification and network induced delay of the platoon wireless network exist at the same time,the quantification can be considered as an uncertainty and the network induced delay is bound,and considering changes in the lead vehicle acceleration as a disturbance input,the hybrid system is obtained as an uncertain discrete-time system with time-delay.The sufficient condition for asymptotical stability is derived and a robust H_∞controller with memory state feedback is discussed.The effectiveness of the controller is proved by simulation.