Control Synthesis for Distributed Vehicle Platoon Under Different Topological Communication Structures

摘要

The wireless inter-vehicle communication provide a manner to achieve multi-vehicle cooperative driving, and the platoon of automotive vehicle can significantly improve traffic efficiency and ensure traffic safety. Previous researches mostly focus on the state of the proceeding vehicle, and transmit information from self to the succeeding vehicle. Nevertheless, this structure possesses high requirements for controller design and shows poor effect in system stability. In this paper, the state of vehicles is not only related to the information of neighbor vehicles, while V2V communication transmit information over a wide range of area. To begin with, the node dynamic model of vehicle is described by linear integrator with inertia delay and the space control strategy is proposed with different topological communication structures as BF, LBF, PBF, etc. After considering the influence of communication, the high-dimensional state space expression is proposed and converted to low-dimensional expression by matrix manipulation to benefit later research. An in-deep analysis of the feasible region of the controller is given then to guarantee the string stability of platoon, including the selection of the gain weighing coefficients (c) and the optimization of control gain (K). Furthermore, the highlight in this paper is that the optimization of traction matrix is optimized to make every vehicle have the same convergent performance and the comfort is considered in the optimization of control gain while few papers paying attention to this point. Eventually, simulation results are carried out to illustrate that reasonable topological communication structure benefit the system stability and riding comfort.