Hierarchical Cooperative Control of Connected Vehicles:From Heterogeneous Parameters to Heterogeneous Structures  

作　　者：Manjiang Hu Lingkun Bu Yougang Bian Hongmao Qin Ning Sun Dongpu Cao Zhihua Zhong 

机构地区：[1]the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body,Hunan University,Changsha 410082,China [2]Wuxi Intelligent Control Research Institute,Hunan University,Wuxi 214115,China [3]the School of Vehicle and Mobility,Tsinghua University,Beijing 100084,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2022年第9期1590-1602,共13页自动化学报（英文版）

基　　金：the National Key Research and Development Program of China(2021YFB2501803);the National Natural Science Foundation of China(52172384,52002126,52102394);Hunan Provincial Natural Science Foundation of China(2021JJ40065);the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body(61775006);the Fundamental Research Funds for the Central Universities。

摘　　要：As one of the typical applications of connected vehicles(CVs),the vehicle platoon control technique has been proven to have the advantages of reducing emissions,improving traffic throughout and driving safety.In this paper,a unified hierarchical framework is designed for cooperative control of CVs with both heterogeneous model parameters and structures.By separating neighboring information interaction from local dynamics control,the proposed framework is designed to contain an upper-level observing layer and a lower-level tracking control layer,which helps address the heterogeneity in vehicle parameters and structures.Within the proposed framework,an observer is designed for following vehicles to observe the leading vehicle's states using neighboring communication,while a tracking controller is designed to track the observed leading vehicle using local feedback control.Closed-loop stability in the absence and presence of communication time delay is analyzed,and the observer is further extended to a finite time convergent one to address string stability under general communication topology.Numerical simulation and field experiment verify the effectiveness of the proposed method.

关 键 词：Communication delay connected vehicle(CV) HETEROGENEITY string stability vehicle platoon 

分 类 号：U495[交通运输工程—交通运输规划与管理] TN929.5[交通运输工程—道路与铁道工程] TP273[电子电信—通信与信息系统]