Sliding Mode Control Strategy Of Vehicle Platoons Bath On Disturbance Observer

As an important part of the development of artificial intelligence,intelligent transportation system is a research hotspot in the field of intelligent control.And the platoon control of autonomous driving vehicles is one of the key research directions.In the process of realizing completely autonomous driving,it is necessary to experience the mixed driving period of manual driving and automatic driving.Therefore,the platoon of mixed driving also has important research significance.In this paper,two kinds of control strategies for unmanned platoon and mixed platoon are considered.The string stability of the two kinds of platoon is also studied.The main research contents are as follows:Firstly,the structure and working principle of the experimental platform of indoor intelligent transportation system are introduced.The autonomous robot experimental platform of intelligent transportation system can simulate and verify the control algorithm of vehicle platoon formation.The experimental platform includes intelligent robot vehicle,wireless communication system and positioning system.Secondly,in order to solve the problem that the vehicle will be affected by the unknown disturbance in the process of forming a platoon,the unknown disturbance is eliminated by adopting the method of parameter adaptation and disturbance observer.Integral sliding mode control algorithm and the constant headway strategy are used to control the formation of vehicles,and the improvement of the stability of vehicle platoon by eliminating disturbance with disturbance observer is analyzed through simulation.The selection of sliding surface parameters ensures that the error between vehicles will not be transmitted to the rear,so as to ensure the string stability of vehicle platoon.In order to alleviate the chattering problem of traditional integral sliding mode strategy,a continuous sliding surface including sign function is used in the controller to improve the stability of the platoon.The validity of the platoon control algorithm is verified by simulation and experiment.Finally,a mixed driving model was established to meet the practical requirements of artificial driving vehicles and automatic driving vehicles to form a mixed driving formation,and artificial driving and automatic driving vehicles could be arranged arbitrarily.The automatic driving vehicle adopts terminal sliding mode control and disturbance observer to compensate the external disturbance of the vehicle,while the control of the manual driving vehicle is based on the simulation of driving parameters of different drivers.A new communication topology between vehicles is adopted and a new error is defined to solve the string stability problem of mixed-driving vehicle formation.In order to improve the stability of the mixed driving platoon,the influence of initial error on the autonomous driving vehicles in the platoon was further considered.The effectiveness of the proposed control algorithm is verified by simulation and experiment.