Vehicle Platoon Control Considering Vehicle Longitudinal Dynamics

The rise of intelligent transportation system brings a rare opportunity to accelerate the development of environment-friendly intelligent transportation ecosystem.With V2V(Vehicle to Vehicle)communication as the core technology,the intelligent control of interconnected autonomous Vehicle platoon has good energy saving potential.This article after flooding electric commercial team as object to carry out the Energy saving Control method design,innovative with an Energy Management Strategy is proposed(Energy Management Strategy,EMS)Distributed Model Predictive Control(Distributed Model Predictive Control,DMPC)algorithm combined with the study on characteristics of braking Energy recovery platoon energy-saving method,has carried on the simulation analysis and bench test and related research.The main research contents of this paper are as follows:Firstly,the multi-element platoon model framework is built to mainly study the multiobjective optimization system and decouple the platoons based on the framework Angle of multi-element system.The information flow topology,control algorithm,platoon space geometry,vehicle dynamics and other elements in the platoon are modeled.Secondly,the two-layer platoon energy saving control algorithm is designed.The upper control algorithm plans the vehicle demand drive/braking force,and the lower control algorithm performs the front and rear axle braking force distribution and braking energy recovery.Firstly,a PID algorithm based on leader-leader Following(PLF)communication topology is designed for the pure electric vehicle alignment to obtain the current optimal vehicle speed and obtain the current demand drive/brake force through the drive/brake force analysis module.Secondly,also for PLF communication topology,the state space of vehicle nodes is built,constraints and cost functions are established,and DMPC algorithm is proposed.Among them,the cost function of DMPC includes the following aspects: communication topology,drive/braking deviation,vehicle distance deviation,trajectory deviation and drive energy consumption.The lower dynamics control algorithm is established under the constraints of the platoon,and the braking force distribution strategy is proposed for the vehicles inside the platoon,so as to ensure the braking safety and the braking law allows,and the optimal energy recovery braking force distribution is adopted.Thirdly,the simulation analysis of the performance and energy-saving performance of the platoon was carried out for the two upper control algorithms.The vehicle speed,track,distance between the front and rear vehicles,acceleration,impact degree and energy consumption curve of the platoon were obtained through MATLAB/Simulink simulation,and the driving performance and energy-saving performance were compared and analyzed.Finally,d SPACE and other hardware devices were used to build the Rapid Control Prototype(RCP)experimental bench.The semi-physical platform RCP experiment was carried out for the DMPC algorithm,and the experiment and analysis of typical cycling conditions were carried out.The performance of the platoon and the platoon energy saving effect under different control algorithms were obtained,which verified the accuracy of the set up model and the real-time and effectiveness of the control algorithm.