异构智能网联汽车编队延迟补偿控制研究

Multi-vehicle platooning of connected and automated vehicles(CAVs)can effectively reduce vehicle-following distance and improve traffic efficiency of the transportation system. However,platoon control needs to have the ability to accommodate heterogeneous platoons and to ensure the string stability against actuator and communication delays. This paper proposes a delay compensation control method for heterogeneous CAV pla⁃ tooning,which can realize the longitudinal tracking control of the CAV platoon utilizing the acceleration information of other vehicles without obtaining system dynamics characteristics and control input of other vehicles. Furthermore, a Smith-predictor-based delay compensation control scheme is proposed to negate the impact of actuator and commu⁃ nication delay on the string stability. The simulation results of typical working conditions show that the proposed de⁃ lay compensation controller for heterogeneous CAV platoons can reduce the tracking error by 80.7% and effectively minimize the headway and vehicle-following distance,compared with the common vehicle platooning control mthods.