| Cooperative driving is an important part of Intelligent Transportation System (ITS). Thepurpose of cooperative driving is to design a controller, which can make transportation moresafety and improve the throughput efficiency of the roads. With the rapid development ofcomputer science, control theory, communication technology and sensing, cooperative drivingis more realizable. In this paper, we focus on the design of the controller and analyze theproperties of the controller.In this paper, vehicles are format as a platoon, each vehicle in the platoon run in a2-dimensional (2D) space. One designs a linear control law. For each individual vehicle, thecontrol law contains feedback control law and feedforward control law. The feedback controllaw guarantees the stability of each vehicle and the feedforward control law makes the vehiclecooperate with its neighbors. For the platoon, the control law is a state feedback control law.Then we prove that the platoon is stable under the control laws proposed in this paperfrom both frequency domain and time domain. Furthermore, we find that communicationdelays have no effects on the stability of each vehicle in the platoon, but communicationdelays cause static control errors. The relationship between communication delays and staticcontrol errors is found. Actuator delay is different, which makes the platoon performane badly,but doesn’t cause static errors. We give a new method to design the controller for the platoon,which is based on the linear matrix inequation (LMI), and we can solve it by the LMI toolboxin Matlab. Then we prove that the platoon is string stable from time domain. We providesimulation results to illustrate the performance of the controller, and prove that the control lawis valid and the objectives of the platoon can be achieved.Finally we design a simulation platform for cooperative driving, which makes simulationmore convenient. This work is a primary attempt to design professional simulation software. |
PDF Full Text Request