Research On Longitudinal Following Control Of Intelligent Vehicle Platoons Based On Fuzzy Model Predictive Control

As a key technology in the vehicle cooperative control system,the intelligent vehicle platoon longitudinal follow control is based on vehicle-to-vehicle communication and reasonable control strategies to realize multiple vehicles in the same lane to maintain a minimum safe distance to drive in formation,which is of great importance to improve road capacity and energy conservation and pollution emissions reduction.Model predictive control(MPC)is widely used in fleet control research,because of its advantages in multi-model constraint processing.However,MPC still has room for improvement in meeting the control requirements of intelligent vehicle platoon for different performances under different working conditions.For heterogeneous vehicle platoon,there is still a lack of in-depth research.To this end,this paper designs an improved MPC algorithm(fuzzy MPC algorithm)for the longitudinal following control system of the intelligent vehicle platoon based on the principle of the MPC algorithm,and research on longitudinal following control of heterogeneous vehicle platoon with different dynamic performance parameters is carried out.Finally,the reliability of the fuzzy MPC algorithm is verified by simulation experiments,and the specific research content is as follows:(1)The longitudinal following control system model of intelligent platoon is established.Combined with the control strategy of the fixed time interval of the vehicle head,the kinematics model of the longitudinal vehicle platoon control system is constructed.Then,the constraint parameters and control objectives of variables in the control system are further determined.(2)The hierarchical longitudinal control system architecture is constructed,and the design of the vertical follow controller for the intelligent vehicle platoon is completed.On the basis of MPC controller,the fuzzy controller is introduced to design the upper fuzzy MPC controller,and the stability of the fuzzy MPC algorithm is analyzed.The lower controller is designed by combining PID method and inverse dynamic model,which receives the output of the upper controller and converts it into acceleration or braking control.(3)Carsim/Simulink software was used to build a joint simulation platform to complete the simulation experiment of the intelligent vehicle platoon longitudinal following control system based on fuzzy MPC.A smart vehicle platoon simulation system was built in Simulink.The vehicles in Carsim were selected as complex vehicle models,the control effect of the fuzzy MPC controller is numerically simulated,and compared with the control effect of PID algorithm and MPC algorithm.Experimental results show: for the vehicle platoon using fuzzy MPC algorithm in the scenario of continuous acceleration and deceleration and emergency braking,not only the following efficiency of the vehicle platoon is guaranteed,but also the riding comfort of the following vehicles is improved.(4)Based on the fuzzy MPC algorithm,the longitudinal following performance of heterogeneous vehicle platoon is studied.To begin with,the longitudinal following control system of heterogeneous vehicle platoon composed of vehicles with different dynamic parameters is established.Then,according to the different characteristics of vehicle performance in the heterogeneous platoon,the original spacing control strategy and constraints are improved,and the algorithm is further improved by adding heterogeneous parameters on the basis of fuzzy MPC algorithm.At last,based on the Carsim/Simulink co-simulation platform,under the conditions of medium and high-speed multi-working conditions,comparative experiments with PID algorithm and MPC algorithm under medium-and high-speed multi-working conditions were carried out.In the longitudinal following control of the heterogeneous vehicle platoon,the control effect of the improved fuzzy MPC algorithm is verified.