Cruise Control Of Autonomous Platoon Based On Internet Of Vehicles

The modern transportation system is the backbone of the country’s economic prosperity,which providing reliable transportation for domestic and international trade.As the number of cars increasing,daily traffic demand has brought serious traffic burdens to urban transportation and highways,including high traffic accident rates,traffic jams rates,and lack traffic safety.In order to solve the above problems,maximize the efficiency of the existing transportation system,ensure traffic safety,and alleviate traffic congestion,Intelligent Transportation Systems(ITS)have emerged at the historic moment.The Internet of Vehicles as an extension and typical application of the Internet of Things and The Intelligent Transportation,occupies an important position in the development of intelligent transportation.In the future it will be a key path to achieve driverless and intelligent transportation.Autonomous fleet cruise control,as the main field of connected vehicle applications,has received widespread attention in recent years.This paper studies the communication delay,leading vehicle interference,limited input,uncertain parameters,and nonlinear dynamics in connected vehicles of autonomous fleet systems.This paper establish system models and control algorithms to solve the fleet stability of mixed traffic.The main research contents are as follows:(1)Aiming at solving communication delay between vehicles in the autonomous fleet system and the control of first-car interference,a robust cruise controller is proposed.This section designed an H infinite performance index,and adopted a robust control method to obtain a state feedback gain.Secondly,the Lyapunov-Krasovskii function is established to verify the stability of the fleet,and the feasibility of the control method is verified by a simulation example.(2)Aiming at solving communication delay between vehicles in the autonomous fleet system,first-car interference,and uncertain parameters,a predictive cruise controller is proposed.This section designed a predictive system model,and obtained a gain of the state feedback controller by using a predicted state quantity.Secondly,the stability of the fleet is verified by the Lyapunov stability principle,and the feasibility of the control method is verified by a simulation example.(3)Aiming at solving communication delay between vehicles in the autonomous fleet system,first-car interference,limited input,parameter uncertainty,and non-linear dynamic control,a non-linear predictive cruise controller is proposed.This section designed a non-linear predictive system model,and obtained state feedback by using the non-linear predicted state Controller gain.Secondly,the stability of the fleet is verified by the Lyapunov stability principle,and the feasibility of the control method is verified by a simulation example.