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原文传递 Consensus-Based Control Strategy for Mixed Platoon under Delayed V2X Environment

题名：	Consensus-Based Control Strategy for Mixed Platoon under Delayed V2X Environment
正文语种：	eng
作者：	Hang Zhao;Dihua Sun;Shuang Jin;Min Zhao;Xinhai Chen
作者单位：	The Key Laboratory of Dependable Service Computing in Cyber Physical Society of Ministry of Education Chongqing Univ. Chongqing 400044 China The School of Automation Chongqing Univ. Chongqing 400044 China;The Key Laboratory of Dependable Service Computing in Cyber Physical Society of Ministry of Education Chongqing Univ. Chongqing 400044 China The School of Automation Chongqing Univ. Chongqing 400044 China;The Key Laboratory of Dependable Service Computing in Cyber Physical Society of Ministry of Education Chongqing Univ. Chongqing 400044 China The School of Automation Chongqing Univ. Chongqing 400044 China;The Key Laboratory of Dependable Service Computing in Cyber Physical Society of Ministry of Education Chongqing Univ. Chongqing 400044 China The School of Automation Chongqing Univ. Chongqing 400044 China;The Key Laboratory of Dependable Service Computing in Cyber Physical Society of Ministry of Education Chongqing Univ. Chongqing 400044 China The School of Automation Chongqing Univ. Chongqing 400044 China Intelligent Application Dept. Chongqing Engineering Research Center of Research and Testing for Automated Driving System and Intelligent Connected Vehicle Chongqing 400074 China
关键词：	Mixed vehicle platoon; Consensus; Time-varying delays; Vehicle dynamics; Cyberphysical system
摘要：	This paper develops a mixed platoon control strategy incorporating vehicle dynamics and time-varying vehicle-to-everything (V2X) delays to guarantee the consensus of a mixed platoon and reduce the impacts caused by the inconstant driving behavior of human-driven vehicles (HVs). In particular, a system control framework is established for a mixed vehicle platoon, which bears HVs and connected automated vehicles (CAVs). More precisely, this system control framework considers directly controlling CAVs and indirectly guiding the HVs to improve the consensus of the whole platoon with respect to velocity error and headway. Furthermore, based on the third-order closed-loop dynamic model, the consideration of vehicle dynamics and time-varying delays are taken into account. Then, theoretical analysis employs Lyapunov-Krasovskii theory to derive the delay boundary that determines the asymptotic stability and local string stability. Finally, a performance comparison with the existing algorithm is carried out to further demonstrate the advantages of the proposed strategy.
出版年：	2023
期刊名称：	Journal of Transportation Engineering
卷：	149
期：	5
页码：	04023029.1-04023029.15