Cooperative Control Of Connected Vehicle Platoon Considering Car-Following Interactions

With the rapid increase of vehicle ownership,there are existing tremendous pressure on current transportation systems.The vehicle traveling in a platoon pattern can effectively reduce the distance between adjacent vehicles.In addition,the air resistance of the overall operation of the vehicle platoon can be effectively reduced since the the following vehicles are under the barrier of the leading vehicle in the platoon,thus the fuel consumption and exhaust emissions can be reduced.With the development of vehicle intelligence and connection integration,in the context of connected vehicles,regarding the scenarios of different road structures,the generalized investigation for the vehicle platoon control is an important issue in the field of current vehicle platoon control.Additionnally,the interactions between vehicles,the car-following behavior of the vehicle,has a great influence on the performance of vehicle platoon control,which can effectively avoid negative spacing error,negative velocity and unreasonable acceleration.Therefore,the research for vehicle platoon control considering car-following interactions in connected environment is of great significance for platoon control theory and application.The main contributions of this thesis include: 1.Regarding the lane discipline-based road scenario,a nonlinear vehicle platoon control algorithm by considering car-following interaction and heterogeneous communication delays is proposed.Firstly,in this thesis,a nonlinear function is proposed to describe the car following interactions,then based on the Leader-Follower method,the nonlinear vehicle platoon cooperative control algorithm is designed by considering the influence of heterogeneous communication delays.Furthermore,according to Lyapunov-Krasovskii stability theory,this thesis analyzes the stability and consensus of the vehicle platoon,and the maximum communication delays can be derived when the vehicle platoon is stable.Not only the consensus of the inter-vehicle gaps and velocity of the vehicle platoon can be achieved,but also the behavior of vehicles can follow the law of traffic flow under the proposed control algorithm.In addition,the influence of communication delays(such as no time delay,homogeneous time delay,heterogeneous time delay)on vehicle platoon control are further studied.2.Related to the non-lane-discipline based road scenario,the longitudinal and lateral platoon cooperative control algorithms considering car-following interactions and heterogeneous communication delay are proposed.Based on the research in Section 1,this thesis considers the more generalized scenario,non-lane-discipline based road scenario,further studies the influence of lateral spacing distance between vehicles on vehicle platoon control,the consensus-based longitudinal and lateral cooperative control algorithms are designed.Based on the Lyapunov-Krasovskii stability theory,the stability and consensus of the proposed longitudinal and lateral control algorithm are analyzed.With the proposed longitudinal/lateral control algorithms,not only the consensus respect to longitudinal inter-vehicle gaps and velocity for the vehicle platoon can be realized,but also the consensus respect to the lateral inter-vehicle gaps and velocity are achieved,and the behavior of the vehicle in the platoon is consistent with the law of traffic flow.3.In the context of vehicle platoon braking issue,a cooperative integral sliding mode braking control algorithm for connected vehicle platoon is proposed.The braking control for vehicle platoon is also an important factor in the vehicle platoon driving safety.Based on the research on platoon formation control in the above Section 1 and Section 2,the braking control for connected vehicle platoon is further studied.Because the leading vehicle has a large impact on the platoon braking control,a linear braking control algorithm is designed for the leading vehicle.Regarding the following vehicles,the sliding mode control method is adopted,this thesis designs the integral sliding mode braking control algorithm for vehicle platoon.According to Lyapunov stability theory,the stability and consensus of the proposed control algorithm are carried out.Further,the string stability of the vehicle platoon is analyzed by Laplace transform method.Under the proposed control algorithms,not only the consensus respect to the inter-vehicle gaps and velocity can be achieved,but also the string stability of the vehicle platoon can be ensured.