Study On Modeling And Controling Autonomous Platoon

Cooperative intelligent cruise control system belongs to active security technology. CICC distinguishes itself from cruise control in adding the functions of headway distance control and collision warning.It aims at reducing the workload of driver and traffic accidents,as well as increasing the traffic flow through put and making the driver more comfortable.After having analyzed the basic function of CICC,and relative merits algorithms at home and abroad,we have systemically studied on modeling and controling of the platoon.First,a new mathematic model was established for describing the wind and gradient in platoon's longitudinal movement,and analysis the feasibility of the model.Second,after analyzed the character and request of the longitudinal control platoon, by using feedback linearization,realize the closed loop system linearization.Adoped nonlinear PID to realize the control parameter changed with real-time,ensures the platoon can safe draving on different raod condition.Third,propose an algorithm based on Lyapunov function and realizes perfect tracking.This design not only ensures the safety of the platoon,but also improves the comfort of the vehicle's passengers.Fourth,consider the control design problem of platoon system with time delays, analysis the effects of the delay.Proposed an algorithm that can achieve the delay bound,and ensure the stable of the platoon.Fifth,Nonlinear PID and Lyapunov controller were used in longitudinal control of the platoon.Simulation results show that the presented algorithm can effectively solve the problems caused by wind and gradient,then we design a controller based on linear which can solve the problem caused by actuator's delay,this conclusion is further verified by the experimental results.Finally,we summarized the dissertation and suggested some open problems in theory and application.