Research On Humanized Longitudinal Control Of Vehicle Platoon

Vehicle platoon has outstanding advantages in improving traffic safety,reducing drivers operating burden,and improving traffic efficiency.Reasonable research and utilization of drivers characters are beneficial to improve traffic safety,the humanization level of vehicle platoon,and the acceptance of the system,and it is of great significance to design a humanized platoon control method.This paper aims to design a humanized longitudinal control method for vehicle platoon to improve traffic safety,traffic efficiency,and humanization level from two aspects: the classification and description of the drivers’ follow-up styles,and the humanized longitudinal control of vehicle platoon.The main contents are as follows:1)Modeling of the driver follow-up styles classification model.First,the data of high traffic density road sections with obvious acceleration and deceleration characteristics are selected from the high D dataset,and 1293 groups of effective follow-up data are extracted;Secondly,an improved intelligent driver model considering dynamic constraints is established,solving the negative velocity problem of the original intelligent driver model,and the model parameters are extracted as the drivers’ follow-up characteristics parameters;Thirdly,considering the drivers acceleration and deceleration characteristics when approaching and moving away from the preceding vehicle,the follow-up characteristics parameters are clustered with the K-means algorithm,and two driver follow-up styles classification models are established from the "Go" and "Stop" perspectives,realizing the accurate classification of the drivers follow-up styles.At last,the adaptive weight particle swarm algorithm based online follow-up styles recognition method is designed,realizing the accurate recognition of the drivers’ follow-up styles.2)The humanized longitudinal control method of vehicle platoon considering drivers’ follow-up styles.The hierarchical control method of the vehicle platoon’s humanized longitudinal control is presented to improve traffic safety,traffic efficiency,and humanization level.For the upper-level control,a platoon’s longitudinal follow-up strategy considering the drivers follow-up styles and a platoon’s humanized longitudinal follow-up strategy considering the traffic safety and traffic efficiency are designed respectively,realizing the speed planning that meets the requirements of traffic safety,traffic efficiency,and humanization.For the middle-level control,a model predictive control based speed tracking controller is designed to allocate the longitudinal acceleration,realizing accurate tracking of the planning speed;At last,the lower controller for the humanized longitudinal control of vehicle platoon is designed to allocate the throttle opening and brake master cylinder pressure,realizing accurate tracking of the longitudinal acceleration.3)Research on simulation test of the vehicle platoon’s humanized longitudinal control.In order to evaluate the humanized longitudinal control method of vehicle platoon in the application of the whole vehicle,the multi-vehicle simulation platform composed of five vehicles is established with MATLAB/Simulink and Car Sim,and the emergency braking condition and the WLTC condition are carried out.The results show that the distance between the front of the platoon vehicle and the rear of the vehicle in front is always greater than zero under the emergency braking condition,and the humanized longitudinal control method of vehicle platoon can ensure the safety of platooning.The humanized longitudinal control method of vehicle platoon can improve traffic safety,traffic efficiency,and humanization level during platooning under the WLTC condition.