Research On Economic Cruise Distributed Control Of Intelligent Connected Electric Vehicle Platoon

As the main form of the intelligent transportation system,the intelligent networkconnected electric vehicle that integrates vehicle intelligence,network connection and electrification has important research significance for improving traffic efficiency and vehicle driving safety.The multi-intelligent vehicle platoon system,as an important application field of intelligent connected electric vehicles,can not only improve the driving safety of vehicles,but also further improve transportation efficiency and vehicle economy.In this thesis,the intelligent connected vehicle platoon is taken as the research object,and a general vehicle platoon model architecture is established,and according to this model architecture,a multivehicle control strategy that takes into account vehicle reliability and energy saving economy is proposed.Based on the research idea of improving vehicle economy,an energy-saving control strategy based on distributed model predictive control is further proposed;and a scalable and versatile miniature autonomous driving vehicle platform is constructed to coordinate relevant experiment.The main research work of this article is as follows:First,the general vehicle platoon model including vehicle node dynamic model,information flow topology among the vehicles,vehicle spacing strategy,controller design is established,the algebraic graph theory is used to realize the mathematical expression of the information flow topology among the vehicles in the platoon.For a variety of information flow topology among the vehicles,a general distributed linear feedback controller to achieve stable control of vehicle platoon is designed.Secondly,in view of the fact that the current platoon cruise strategy is difficult to balance the platoon stability and energy saving,a vehicle platoon energy saving control strategy based on optimal control gain is proposed.According to the analysis of vehicle platoon stability,the range of linear feedback control gain of the platoon is solved,and the optimization problem of control gain with the goal of optimal energy efficiency is constructed,and the optimal control gain is solved by genetic algorithm.The simulation results show that the vehicle platoon energysaving control strategy based on the optimal control gain proposed in this paper can improve the energy efficiency of the vehicle platoon by 2.213% while ensuring the stability of the vehicle platoon.Then,in order to further tap the energy utilization rate of vehicle platoons,an economic cruise strategy of vehicle platoons based on distributed model predictive control is proposed.A distributed model predictive controller with energy efficiency as the goal is designed.The bandstop function is used to convert the vehicle spacing and vehicle speed constraints into a part of the objective function,and the genetic algorithm is used to solve the optimal control law.The simulation results show that the proposed distributed model predictive controller can ensure the safety of vehicle platoon driving,and compared with the vehicle platoon energy-saving control strategy based on the optimal control gain,the energy-saving effect of platoon can be improved by 5.263%.Finally,a scaled-down test platform for intelligent connected vehicle platoon was built.Design 1: 5 miniature self-driving vehicle,including vehicle sensor equipment selection,hardware structure and software design,through the release-topic-subscription communication architecture of the robot operating system(ROS),a multi-sensor distributed information fusion process is constructed The system,and based on this experimental platform,conducted a experiment about vehicle platoon longitudinal stability.The results show that the proposed control strategy can guarantee the vehicle platoon longitudinal stability.