Study on Cooperative Control and Stability of Complex Mixed Vehicle Platoon

doi:10.3778/j.issn.1002-8331.2403-0462

Abstract

Abstract: Aiming at the complex mixed vehicle platoon composed of human-driven vehicle, connected human-driven vehicle and connected autonomous vehicle, this paper constructs a complex mixed vehicle platoon system model, and proposes a cooperative controller of complex mixed vehicle platoon based on heterogeneous multi-agent pinning consistency. The driver response delay and vehicle communication delay are introduced into the model, and the cooperative controller of complex mixed vehicle platoon with delay is designed to reveal the internal mechanism of improving the cooperative operation ability of mixed vehicle platoon with delay. Based on Lyapunov analysis method, the stability of complex mixed vehicle platoon system is analyzed, and the stability conditions are obtained. Finally, the numerical simulation experiments are designed to analyze the effects of time-gap of CHV, time-gap of CAV, driver response time delay and vehicle communication time delay on the stability of mixed vehicle platoon. The results show that: (1) the controller designed in this paper can effectively control the complex mixed vehicle platoon and ensure that the vehicle runs in the platoon mode. (2) The time-gap of CHV and time-gap of CAV of 1.1 s and 0.6 s, respectively, are the most conducive to the stability of the complex mixed vehicle platoon. (3) Both the driver’s reaction delay and vehicle communication delay have negative effects on the stability of the mixed vehicle platoon, and the controller designed in this paper can well suppress the influence of driver’s reaction delay and vehicle communication delay.

Key words: intelligent transportation, mixed vehicle platoon, cooperative control, multi-agent systems, pinning consensus, stability

摘要： 针对由人工驾驶车辆（human-driven vehicle，HDV）、网联辅助驾驶车辆（connected human-driven vehicle， CHV）以及网联自动驾驶车辆（connected autonomous vehicle，CAV）构成的复杂混合车辆队列，构建复杂混合车辆队列系统模型，提出基于异质多智能体牵制一致性的复杂混合车辆队列协同控制器。将驾驶员反应时延和车辆通信时延引入模型，设计时滞复杂混合车辆队列协同控制器，揭示时延提升混合车辆队列协同运行能力的内在机理。基于Lyapunov分析法对复杂混合车辆队列系统的稳定性进行分析，得到队列稳定性条件。设计数值仿真实验，分析CHV车间时距、CAV车间时距、驾驶员反应时延与车辆通信时延对复杂混合车辆队列稳定性的影响。研究结果表明：（1）设计的控制器能够有效控制复杂混合车辆队列，保证车辆以队列模式行驶；（2）复杂混合车辆队列中CHV车间时距和CAV车间时距分别取1.1 s和0.6 s时最有利于队列的稳定；（3）驾驶员的反应时延和车辆通讯时延对混合车辆队列的稳定性都具有消极作用，所设计的控制器能够很好抑制驾驶员反应时延和车辆通信延的影响。

关键词: 智能交通, 混合车辆队列, 协同控制, 多智能体系统, 牵引一致性, 稳定性

DU Wenju, ZHAO Shangfei, DONG Jianxun, HUANG Zhekai. Study on Cooperative Control and Stability of Complex Mixed Vehicle Platoon[J]. Computer Engineering and Applications, 2025, 61(12): 372-384.

杜文举, 赵尚飞, 董建勋, 黄哲凯. 复杂混合车辆队列协同控制及稳定性研究[J]. 计算机工程与应用, 2025, 61(12): 372-384.

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