Nonlinear Platoon Control Of Connected And Automated Vehicles Under Air-ground Cooperation

Vehicle platoon control is an important method to improve driving safety and fuel economy of connected and automated vehicles(CAVs)and road efficiency on existing road infrastructure.However,existing vehicle platoon control mainly focus on vehicle kinematic characteristics and ignore the influence of vehicle dynamics on vehicle platooning.Take the electronic throttle opening angle into consideration will improve the response of vehicles in platoon,since the electronic throttle is an important component that affects vehicle movement and reflects the value of vehicle acceleration.In addition,a more general heterogeneous vehicle platoon controller is proposed considering the influence of communication delay on the stability of vehicle platoon.Finally,an experimental platform for collaborative control of UAV and connected vehicle is built to provide a broad vision for the vehicle through UAV and verify the effectiveness of the proposed vehicle platoon controller.Therefore,the study on vehicle platoon control combining theoretical analysis and real vehicle experiment is of great significance for the development of study on vehicle platoon control.The main contents of this paper include:1.Considering the influence of vehicle dynamics on vehicle platoon control,a homogeneous nonlinear cooperative vehicle platoon controller incorporating vehicle electronic throttle opening angle is proposedFirstly,the relationship between throttle opening angel and vehicle acceleration is established,and the influence of throttle opening angel on vehicle movement is analyzed.Secondly,assuming that the vehicle has no power transmission delay,the vehicle platoon controller is designed by considering the vehicle state information(position,speed,throttle opening angel,etc.).Furthermore,the stability of the proposed controller is analyzed based on the Rouse-Hurwitz criterion.Finally,numerical simulation is carried out to verify the effectiveness of the proposed controller under two scenarios which includes leading vehicle with constant speed and variable seepd.The finding shows that considering the electronic throttle opening angle can improve the response of the first following vehicle,but the influence on the other following vehicles is not obvious.2.Regarding to the heterogeneous vehicle platoon control with communication delay,the nonlinear controller of heterogeneous vehicle plaoon considering communication delay is proposedBased on above study,the more general heterogeneous vehicle platoon control problem is studied considering the influence of communication delay.Firstly,based on the vehicle third-order dynamics model,a distributed vehicle platoon controller is designed considering communication delay and nonlinear car-following interactions.Secondly,LyapunovKrasovskii technology is adopted to analyze the stability of the vehicle platoon,and the stability conditions and communication delay boundary of the vehicle platoon are obtained.Finally,the effectiveness of the proposed controller is verified by numerical simulation.3.Related to the CAV platoon cooperative with the assistance of UAV,an experimental platform of UAV and connected vehicle is built to conduct vehicle platoon control experiments and the assistance of UAV,and the effectiveness of the proposed controller is verifiedFor the vehicle platoon controller designed in the second part of this study,this part established the UAV and connect vehicle cooperative control experiment platform to verify the effectiveness of the proposed controller.In particularly,because of the limitation of experimental conditions,drivers operate the vehicle according to the driving suggestion of HMI and the UAV provide road information to the vehicle using on-board camera.Finally,the effectiveness of the proposed controller is basically verified,by loading the controller proposed in part two and analyzing the experimental data.