Research On Coordination Control Of Platooning Based On Consensus

With the increasing number of vehicles,environmental pollution,traffic congestion,and traffic accidents are the problems that all countries need to face on their development roads today and in the future.As one of the important methods to solve these problems,intelligent transportation systems have been on the stage of history.As an important research content of intelligent transportation systems,coordination control of platooning has the advantages of effectively reducing fuel consumption,improving passenger experience and increasing road throughput.These advantages make platooning gradually become a research hotspot in the field of control and transportation.Its purpose is to allow many vehicles to travel at the same velocity and with a small distance between vehicles through on-board sensors,vehicle-to-vehicle communication,and control algorithms under the premise of ensuring safety.In the real environment,there is time delay in the communication between vehicles.The existing results mainly use the velocity of the leading vehicle for time delay compensation,but when the velocity of the leading vehicle is unknown,it is no longer applicable to use the velocity of the leading vehicle for time delay compensation.In addition,there are few research results that simultaneously study the internal stability and string stability of platooning considering the time delay.Based on this background,this paper uses another method to deal with the time delay,and analyzes the internal stability and string stability of the platooning at the same time.The specific research contents are as follows:(1)The problem of coordination control of second-order platooning is studied,and the influence of communication delay on the internal stability and string stability of platooning is investigated.In order to eliminate the influence of time delay on internal stability,a differencecompensated control algorithm with time delay is proposed.By using Routh criterion,the sufficient conditions for the internal stability of platooning with communication delay are obtained,and the string stability of the platooning is analyzed with the aid of the Laplace transform.(2)Aiming at the second-order platooning with communication delay,the problem of coordination control is studied when the velocity of leading vehicle is not measurable.In order to estimate the velocity of the leading vehicle,a distributed observer is designed.At the same time,a difference-compensated control algorithm with communication delay based on observer is designed to meet the control objective of platooning.With the help of Routh criterion,the sufficient conditions for realizing internal stability of the platooning are obtained,and the upper-bound of delay is obtained.The string stability of platooning is analyzed by using the predecessor-leader-following topology.(3)The problem of coordination control of the third-order platooning under the time delay constraint is investigated,a difference-compensated algorithm based on the time delay is proposed.Through the Routh criterion,the delay-independent internal stability conditions of the platooning are obtained,and the string stability of the platooning is analyzed by using Laplace transform.