Cooperative vehicle platoon control has great potential in relieving traffic congestion, improving driving safety and fuel economy, which is closely related to the progress of communication technology, especially the development of vehicle-to-vehicle communication technology. However, in the real scene, vehicle-to-vehicle communication is not ideal, and there are communication packets losses, delay and other phenomena, which affect the stability and tracking performance of the vehicle queue. For this reason, this paper studies the distributed cooperative control method of vehicle platoon in case of communication packets losses, and constructs a vehicle platoon system model considering Bernoulli packet loss model, then designs a distributed controller suitable for communication topology based on directed spanning tree with the leading vehicle as the root node. The relationship between packet loss probability and vehicle platoon stability is analyzed subsequently. Finally, we derives a sufficient condition to ensure the asymptotic stability of platoon, i.e., the inequality of the weight coefficient matrix of the cost function. The numerical simulation results show that when the designed vehicle platoon system model and distributed controller are used, and the weight coefficient matrix of the cost function satisfies the inequality conditions, if the probability of packet loss increases, the convergence time of the queuing tracking error will be prolonged, and the tracking error will increase. This verifies the negative correlation effect of packet loss probability on the stability and tracking performance of the designed distributed controller.


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    Title :

    Distributed Cooperative Control of Multiple Vehicles Considering Communication Packets Losses


    Contributors:
    TAN Yan (author) / HU Yunqing (author) / YUAN Xiwen (author) / BIAN Yougang (author) / QIN Zhaobo (author) / XU Biao (author) / HU Manjiang (author)


    Publication date :

    2022




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown