考虑行车能见度状况的车辆队列协作控制
Cooperative control of vehicle platoons according to driving visibility status

本文考虑了能见度状况影响下的车辆队列协作控制问题。针对车辆行驶中可能出现的三种(正常、低以及超低)能见度状况，分析了其对距离传感器测量输出的影响，并建立了具有切换结构的车辆控制模型。基于平均驻留时间技术以及分段Lyapunov函数方法，在不同能见度状况下，得到了能够保证车辆列队跟踪误差稳定的车辆控制器存在条件以及控制器增益求解方法。通过对车辆控制器增加限制条件，得到了能够保证队列稳定性要求以及实现零稳态距离跟踪误差的车辆协作控制算法。通过Matlab仿真实验以及Ardunio 智能小车实验，验证了本文所提出的算法的有效性以及实用性。
This paper investigates the problem of the cooperative control of vehicle platoons (CCVP) according to the driving visibility status. Due to the effect of the driving visibility status (e.g., normal, scarce and scarcer) on the distance sensor measurement, the platoon is modelled as a switched control system. By using the average dwell time technique and piecewise Lyapunov function, the existence conditions and design method of the tracking error based feedback controller is obtained for the platoon, which can be used to stabilize the tracking error of the platoon control system under the different driving visibility status. Moreover, a useful string stable CCVP algorithm is proposed to guarantee the string stability and zero steady-state spacing error for the platoon, where the controller gain of the platoon is further complemented by additional conditions. Matlab numerical simulations and Arduino experiments are given to verify the effectiveness and practicability of the presented platoon control algorithm