Distributed Cooperative Control of Multiple Vehicles Considering Communication Packets Losses

Cooperative vehicle platoon control has great potential in relieving traffic congestion, improving driving safety and fuel economy, which is closely related to the progress of communication technology, especially the development of vehicle-to-vehicle communication technology. However, in the real scene, vehicle-to-vehicle communication is not ideal, and there are communication packets losses, delay and other phenomena, which affect the stability and tracking performance of the vehicle queue. For this reason, this paper studies the distributed cooperative control method of vehicle platoon in case of communication packets losses, and constructs a vehicle platoon system model considering Bernoulli packet loss model, then designs a distributed controller suitable for communication topology based on directed spanning tree with the leading vehicle as the root node. The relationship between packet loss probability and vehicle platoon stability is analyzed subsequently. Finally, we derives a sufficient condition to e