Design and analysis of distributed controller for longitudinal platoon of networked vehicles under the bidirectional communication delay

doi:10.3969/j.issn.1674-8484.2024.03.014

Abstract

Abstract:

The bidirectional communication delay in connected vehicle platoon systems can significantly impact the control performance of the platoon. In extreme cases, it may even result in instability or collisions. A cloud-based distributed control algorithm was proposed, fully considering the bidirectional communication delay between vehicles and the cloud. Under certain assumptions, the vehicle platoon under cloud control was modeled with sampled control system methods, leading to the unification of bidirectional communication delay. A state feedback distributed controller was designed using the Riccati inequality, and the Lyapunov-Razumikhin theorem was utilized to analyze the asymptotic stability of the control algorithm, establishing the relationship between the upper bound of time-varying delay and the communication topology and coupling gain. The results show that the existence of an optimal coupling gain maximizes the tolerated upper bound of delay, and the ratio of the maximum to minimum eigenvalues of the Laplacian matrix of the communication topology is negatively correlated with the upper bound.

Key words: cloud control system, vehicle platoon, time-varying delay, bidirectional communication delay

CLC Number:

U461.8

WANG Jingyao, HUANG Jiangshan, GUO Jinghua, LI Keqiang. Design and analysis of distributed controller for longitudinal platoon of networked vehicles under the bidirectional communication delay[J]. Journal of Automotive Safety and Energy, 2024, 15(3): 402-412.

Figures/Tables 8

References 16

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通信拓扑	Laplacian矩阵最大最小特征值之比	时延上界 10^-5 s
前车跟随式 (PF)	1	915
领航-前车跟随式 (PLF)	2	229
双前车跟随式 (TPF)	2	229
双领航-前车跟随式 (TPLF)	3	101
双向前车跟随式 (BDL)	4.7321	40
双向跟随式 (BD)	64.8855	0.217

通信拓扑	Laplacian矩阵最大最小特征值之比	时延上界 10^-5 s
前车跟随式 (PF)	1	915
领航-前车跟随式 (PLF)	2	229
双前车跟随式 (TPF)	2	229
双领航-前车跟随式 (TPLF)	3	101
双向前车跟随式 (BDL)	4.7321	40
双向跟随式 (BD)	64.8855	0.217