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Cooperative control of mixed vehicle platoon based on event-triggered mechanism
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DOI：10.1016/j.physa.2026.131797.png)
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Abstract
En 中文
Aiming at the problems of resource waste and information redundancy caused by traditional periodic communication in the cooperative control of mixed vehicle platoons, this paper takes the mixed vehicle platoon composed of human-driven vehicles (HDVs) and connected autonomous vehicles (CAVs) as the research object, propose two mixed vehicle platoon cooperative control methods based on event-triggered mechanism, and studies the stability problem of the mixed vehicle platoon system. Firstly, a mixed vehicle platoon error system model including HDV and CAV was established, and a consensus controller and event-triggered function based on a centralized event-triggered mechanism were designed, then the internal stability of the system and the conditions for the absence of Zeno behavior were proved. Secondly, a distributed architecture was adopted to design a consensus controller based on a distributed event-triggered mechanism for each CAV. The internal stability of the closed-loop system was proved, and the sufficient conditions for ensuring system stability and the event-triggered thresholds for each CAV were derived. Thirdly, the string stability of the mixed vehicle platoon system is theoretically analyzed and the string stability condition is derived. Finally, numerical simulation experiments were designed to verify the effectiveness of the proposed method based on a fixed representative topology, and the influence of different parameter values on the stability and number of triggers was analyzed. And the complementary Monte-Carlo experiments with randomized topology assignments are designed as supplementary robustness tests to verify whether our main conclusions are dependent on specific topological configurations.The research results show that: (1)Both centralized and distributed event-triggered control strategies mitigate communication load, and the distributed strategy exhibits a notably lower trigger frequency than the centralized one. (2)Under the premise of ensuring the stability of the system, the larger the difference between the control parameters α and β , the more conducive it is to the stability of the mixed vehicle platoon. (3)Under the same topology, a greater number of triggers corresponds to superior stability outcomes in the mixed vehicle platoon system. (4)As the value of σ gradually increases, the number of triggers of the CAVs in the platoon gradually decrease. (5)A higher CAV penetration rate p contributes positively to system stability, whereas a larger platoon size N is more detrimental to system stability.
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