Research On Longitudinal Coordination Control Of Intelligent Vehicle Platoon Based On Wireless Communication Networks

With the improvemrnt of people's material and spiritual needs,the automobile has become a necessity of people's life.As it's quantity's increasing,the city traffic congestion is becoming a serious problem,causing a variety of traffic problems.The research on the platoon control of intelligent vehicle can effectively improve the traffic capacity and ease traffic congestion.Combined with vehicle Networking(V2X)technology to achieve a fixed distance control,can further improve the performance of intelligent vehicle platoon control.Therefore,it is of great significance to study the longitudinal coordination control of intelligent vehicle based on vehicle communication.The main contents of this paper are summarized as follows:Firstly,Considering the complexity of the vehicle longitudinal dynamics model,this paper simplified part of the complex model,mainly introduced the traditional kinetic model and built the vehicle longitudinal dynamics model(Matlab/Simulink)on the premise that made a series of assumptions,combined with the actual researchful needs and ensured the accuracy of the vehicle model.It lays a solid foundation for vehicle platoon's control and simulation based on vehicle communication.Secondly,the structure of the platoon cooperative driving system was introduced and analyzed,and the hierarchical control method was selected,including the upper and lower controller by combining with the requirements of the vehicle platoon control in this paper.The upper controller was sliding mode variable structure algorithm(SMC),set up the following vehicle platoon model consists of 5 cars,and simulated in several typical conditions(under the uniform speed,acceleration and deceleration).The lower controller is mainly for the throttle and brake control,but also to achieve the vehicle speed switch actuator,which mainly includes the brake and throttle control strategy and the switching logic.The results show that vehicle distance control strategy based on vehicle communication technology,under the premise of ensuring the safe and stable running platoon,achieved a relatively suitable fixed distance,and a good control effect.Finally,an intelligent micro vehicle experimental platform of 1:10 was established,according to the experimental conditions and the actual needs,the ZigBee wireless communication network technology was slected as the vehicle communication protocol,and the experiment on cooperative control of multi vehicle based on ZigBee was carried out.Subsequently,the battery vehicle was used as the actual test object,and the real vehicle's accelerator / pedal was modified accordingly,the real vehicle communication system and the RCP real vehicle test platform based on dSPACE were built.Lay the experimental foundation for the next step of vehicle platoon control experiment based on real vehicle real-time communication.