含时延的车辆队列事件触发一致性控制研究

为应对通信过程中的传输时延以及车辆间连续信息交互带来的信息冗余、资源浪费，提出一种基于事件触发机制的车辆队列一致性策略，以保证车辆队列能够稳定运行；为此，构建一个考虑车辆间的跟驰行为和通信时延的三阶异质车辆队列动力学模型，提出一种基于事件触发的一致性车辆队列控制器的设计方法；在此基础上，利用Lyapunov稳定性理论和代数图论，对车辆队列的稳定性进行分析，得出了使车辆队列稳定的事件触发条件和通信时延的上界；在MATLAB平台上进行仿真实验，验证了所提车辆队列控制方法的有效性。

Consistent Control of Vehicle Platoon Event Triggering with Communication Delay

In order to address the transmission delay and information redundancy and resource waste caused by continuous information exchange between vehicles during the communication process, a vehicle platoon consistency strategy based on event triggering mechanism is proposed to ensure the stable operation of the vehicle platoon. To this end, a third-order heterogeneous vehicle platoon dynamics model considering car-following interactions and communication delay between vehicles is constructed, and a design method for a consistent vehicle platoon controller based on event triggering is proposed. On this basis, using Lyapunov stability theory and algebraic graph theory, the stability of the vehicle platoon is analyzed, and the event triggering conditions and upper bounds of communication delay that make the vehicle platoon stable are obtained. Simulation experiments are conducted on the MATLAB platform to verify the effectiveness of the proposed vehicle platoon control method.