A robust control method and system for intelligent connected vehicle platoons

Abstract

This invention discloses a robust control method and system for intelligent connected vehicle platoons. This method considers the impact of perception and communication delays, as well as communication interruptions, in platoon control. It constructs a single-vehicle robust controller and a platoon robust controller based on a delay compensation strategy and a Smith predictor. If communication is normal, robust control is implemented in the platoon robust control mode; if communication is interrupted, the single-vehicle robust control mode is implemented. Finally, the system determines the conditions for maintaining stability and robustness of the intelligent connected vehicle platoon. This method is simple and easy to implement, and can improve the operational efficiency and stability of intelligent connected vehicle platoon control, while also resisting communication interruptions and multi-source delays.

Description

Technical Field

[0001] The present invention relates to the fields of intelligent transportation and intelligent connected vehicles, and in particular to a robust control method and system for an intelligent connected vehicle platoon. Background Art

[0002] Intelligent connected vehicles (ICVs), emerging as a product of the convergence of information, automotive, and transportation industries, have emerged in recent years. Leveraging connected communications and autonomous driving technologies, multiple ICVs can platoon, shortening vehicle distances, thereby improving traffic efficiency and reducing energy consumption and emissions. However, sensing delays and communication interruptions caused by communication equipment between sensors and vehicles are inherent characteristics of ICV platoon control systems, adversely affecting system stability and control performance. Consequently, multi-source time-varying delays and communication interruptions have become a major challenge that needs to be addressed in ICV operational management. Summary of the Invention

[0003] In response to the problems existing in the prior art, the purpose of the present invention is to provide a robust control method and system for an intelligent connected vehicle platoon, which can resist communication interruptions and multi-source delays and achieve stability and security.

[0004] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0005] A robust control method for an intelligent connected vehicle platoon comprises the following steps:

[0006] (1) Testing the communication status of the intelligent connected vehicle. If the communication is normal, proceed to step (2); if the communication is interrupted, proceed to step (3);

[0007] (2) The platoon robust control mode is used to adjust the vehicle distance. Specifically, whenever the preset vehicle distance adjustment time interval is reached, the position, speed, and actual acceleration of the preceding vehicle are obtained through sensors. The predicted acceleration of the current vehicle is predicted by the Smith predictor. The expected acceleration of the preceding vehicle is obtained through communication with the preceding vehicle. Based on the obtained information, the expected acceleration of the current vehicle is calculated according to the following formula, and the current vehicle is driven according to the expected acceleration:

[0008] u i,1 (t) = k1[p i-1 (tg i,1 )-p i (t)-L i -v i (t)h i -d i ]

[0009] +k2[v i-1 (tg i,1 )-v i (t)-ai (t)h i ]+a i (t)+q i (t)

[0010]

[0011] Where u i,1 (t) represents the expected acceleration of vehicle i at time t in the platoon robust control mode, i represents the index number of the vehicle in the intelligent connected vehicle platoon, the leading vehicle has an index number of 0, and the following vehicles are indexed from front to back as 1,…,n, where n is the number of following vehicles, k1 and k2 represent the control gain coefficients of the vehicle, and p i-1 (t), p i (t) represents the position of vehicle i-1 and i at time t, L i is the length of vehicle i, v i-1 (t), v i (t) represents the speed of vehicles i-1 and i at time t, h i represents the preset distance adjustment time interval of vehicle i, d i Indicates the distance between vehicles at rest, a i-1 (t) represents the actual acceleration of vehicle i-1, a i (t) represents the predicted acceleration of vehicle i at time t, q i (t) represents the middle term, represents the derivative, τ i-1 represents the time lag of vehicle i-1 in achieving acceleration, τ i represents the time lag of vehicle i in achieving acceleration, u i-1 (t) represents the expected acceleration of vehicle i-1 at time t; g i,1 represents the delay term in the queue robust control mode, δ p,i represents the sensor delay of vehicle i, δ e,i-1 represents the sensor delay of vehicle i-1, θ i Indicates communication delay;

[0012] (3) Single-vehicle robust control mode is used for distance adjustment. Specifically, whenever the preset distance adjustment time interval is reached, the position, speed, and actual acceleration of the preceding vehicle are acquired through sensors. Based on the acquired information, the expected acceleration of the current vehicle is calculated according to the following formula, and the current vehicle is driven according to the expected acceleration:

[0013] u i,2 (t) = k1[p i-1 (tg i,2 )-p i (t)-L i -v i(t)h i -d i ]

[0014] +k2[v i-1 (tg i,2 )-v i (t)-a i (t)h i ]+a i (t)

[0015] g i,2 ≥δ p,i

[0016] i=1,…,n

[0017] Where u i,2 (t) represents the expected acceleration of vehicle i at time t under the single-vehicle robust control mode, g i,2 represents the delay term in the single-vehicle robust control mode.

[0018] Furthermore, the platoon robust control mode and the single-vehicle robust control mode also satisfy the following conditions to achieve local stability:

[0019]

[0020] Furthermore, the platoon robust control mode also satisfies the following conditions to achieve vehicle platoon stability:

[0021]

[0022] Furthermore, the single-vehicle robust control mode also satisfies the following conditions to achieve vehicle platoon stability:

[0023]

[0024] Furthermore, the platoon robust control mode and the single-vehicle robust control mode also satisfy the following conditions simultaneously, thereby achieving stability and robustness:

[0025]

[0026] A robust control system for an intelligent connected vehicle platoon, comprising:

[0027] The mode selection module is used to test the communication status of the intelligent connected vehicle. If the communication is normal, the queue robust controller is used; if the communication is interrupted, the single vehicle robust controller is used;

[0028] The platoon robust controller is used to adjust the vehicle distance using the platoon robust control mode whenever a preset vehicle distance adjustment interval is reached. Specifically, it obtains the position, speed, and actual acceleration of the preceding vehicle through sensors, predicts the current vehicle's predicted acceleration using a Smith predictor, and obtains the preceding vehicle's expected acceleration through communication with the preceding vehicle. Based on this information, it calculates the current vehicle's expected acceleration according to the following formula, and drives the current vehicle according to the expected acceleration:

[0029] u i,1 (t) = k1[p i-1 (tg i,1 )-p i (t)-L i -v i (t)h i -d i ]

[0030] +k2[v i-1 (tg i,1 )-v i (t)-a i (t)h i ]+a i (t)+q i (t)

[0031]

[0032] Where u i,1 (t) represents the expected acceleration of vehicle i at time t in the platoon robust control mode, i represents the index number of the vehicle in the intelligent connected vehicle platoon, the leading vehicle has an index number of 0, and the following vehicles are indexed from front to back as 1,…,n, where n is the number of following vehicles, k1 and k2 represent the control gain coefficients of the vehicle, and p i-1 (t), p i (t) represents the position of vehicle i-1 and i at time t, L i is the length of vehicle i, v i-1 (t), v i (t) represents the speed of vehicles i-1 and i at time t, h i represents the preset distance adjustment time interval of vehicle i, d i Indicates the distance between vehicles at rest, a i-1 (t) represents the actual acceleration of vehicle i-1, a i (t) represents the predicted acceleration of vehicle i at time t, q i (t) represents the middle term, represents the derivative, τ i-1 represents the time lag of vehicle i-1 in achieving acceleration, τ irepresents the time lag of vehicle i in achieving acceleration, u i-1 (t) represents the expected acceleration of vehicle i-1 at time t; g i,1 represents the delay term in the queue robust control mode, δ p,i represents the sensor delay of vehicle i, δ e,i-1 represents the sensor delay of vehicle i-1, θ i Indicates communication delay;

[0033] The single-vehicle robust controller is used to adjust the distance between vehicles using a single-vehicle robust control mode whenever a preset distance adjustment time interval is reached. Specifically, the controller obtains the position, speed, and actual acceleration of the preceding vehicle through sensors, calculates the expected acceleration of the current vehicle based on the acquired information according to the following formula, and drives the current vehicle according to the expected acceleration:

[0034] u i,2 (t) = k1[p i-1 (tg i,2 )-p i (t)-L i -v i (t)h i -d i ]

[0035] +k2[v i-1 (tg i,2 )-v i (t)-a i (t)h i ]+a i (t)

[0036] g i,2 ≥δ p,i

[0037] i=1,…,n

[0038] Where u i,2 (t) represents the expected acceleration of vehicle i at time t under the single-vehicle robust control mode, g i,2 represents the delay term in the single-vehicle robust control mode.

[0039] Furthermore, the platoon robust controller and the single-vehicle robust controller also satisfy the following conditions to achieve local stability:

[0040]

[0041] Furthermore, the platoon robust controller also satisfies the following conditions to achieve vehicle platoon stability:

[0042]

[0043] Furthermore, the single-vehicle robust controller also satisfies the following conditions to achieve vehicle platoon stability:

[0044]

[0045] Furthermore, the platoon robust controller and the single-vehicle robust controller also satisfy the following conditions simultaneously, thereby achieving stability and robustness:

[0046]

[0047] Compared with the prior art, the present invention has the following advantages: The present invention proposes a robust control method and system for intelligent connected vehicle platoons. By introducing a delay compensation strategy and a Smith predictor, the present invention can formulate controllers for both a platoon robust control mode and a single-vehicle robust control mode. It adopts two measures, multi-source state information synchronization and acceleration information prediction, to address the negative impact of information delays on platoon stability control, thereby maintaining improved stability and robustness of the vehicle platoon system. Based on a smaller platoon stability time interval, the present invention provides the vehicle platoon system with improved stability performance. Furthermore, by combining a platoon robust control mode and a single-vehicle robust control mode under delay conditions, the present invention significantly improves the safety and robustness of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 1 is a flow chart of a robust control method for an intelligent connected vehicle platoon provided by an embodiment of the invention;

[0049] Figure 2 Design block diagram of the queue robust controller in the present invention;

[0050] Figure 3 This is the block diagram of the bicycle robust controller design in this invention. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0052] Example 1

[0053] Embodiments of the present invention provide a robust control method for a platoon of intelligent connected vehicles. This method utilizes a delay compensation strategy and a Smith predictor to compensate for the negative impact of information delay on platoon stability control. This method achieves stability and robustness through the joint design of a single-vehicle robust control mode and a platoon robust control mode, thereby preventing performance degradation caused by communication interruptions and delays.

[0054] The embodiment of the present invention provides a method for robust control of an intelligent connected vehicle platoon, which is applied to vehicles in a vehicle platoon, such as Figure 1As shown, the method specifically includes the following steps:

[0055] (1) Test the communication status of the intelligent connected vehicle. If the communication is normal, execute step (2); if the communication is interrupted, execute step (3).

[0056] (2) The platoon robust control mode is used to adjust the vehicle distance. Specifically, whenever the preset vehicle distance adjustment time interval is reached, the position, speed, and actual acceleration of the preceding vehicle are obtained through sensors. The predicted acceleration of the current vehicle is predicted by the Smith predictor. The expected acceleration of the preceding vehicle is obtained through communication with the preceding vehicle. Based on the obtained information, the expected acceleration of the current vehicle is calculated according to the following formula, and the current vehicle is driven according to the expected acceleration:

[0057] u i,1 (t) = k1[p i-1 (tg i,1 )-p i (t)-L i -v i (t)h i -d i ]

[0058] +k2[v i-1 (tg i,1 )-v i (t)-a i (t)h i ]+a i (t)+q i (t)

[0059]

[0060] Where u i,1 (t) represents the expected acceleration of vehicle i at time t in the platoon robust control mode, i represents the index number of the vehicle in the intelligent connected vehicle platoon, the leading vehicle has an index number of 0, and the following vehicles are indexed from front to back as 1,…,n, where n is the number of following vehicles, k1 and k2 represent the control gain coefficients of the vehicle, and p i-1 (t), p i (t) represents the position of vehicle i-1 and i at time t, L i is the length of vehicle i, v i-1 (t), v i (t) represents the speed of vehicles i-1 and i at time t, h i represents the preset distance adjustment time interval of vehicle i, d i Indicates the distance between vehicles at rest, a i-1 (t) represents the actual acceleration of vehicle i-1, a i(t) represents the predicted acceleration of vehicle i at time t, q i (t) represents the middle term, represents the derivative, τ i-1 represents the time lag of vehicle i-1 in achieving acceleration, τ i represents the time lag of vehicle i in achieving acceleration, u i-1 (t) represents the expected acceleration of vehicle i-1 at time t; g i,1 represents the delay term in the queue robust control mode, δ p,i represents the sensor delay of vehicle i, δ e,i-1 represents the sensor delay of vehicle i-1, θ i Indicates communication delay.

[0061] The derivation process of the above formula is:

[0062] In a system with information delay, the target distance between the preceding vehicle i-1 and the current vehicle i is calculated as follows:

[0063]

[0064] The distance error e between the preceding vehicle i-1 and the current vehicle i i (t) is calculated as follows:

[0065]

[0066] Then the expected acceleration of vehicle i in the platoon robust control mode is:

[0067]

[0068] Where: g i,1 is satisfied delay, which is not less than the sensor delay δ p,i and sensor delay δ e,i-1 and communication delay θ i The upper limit of the sum.

[0069] (3) Single-vehicle robust control mode is used for distance adjustment. Specifically, whenever the preset distance adjustment time interval is reached, the position, speed, and actual acceleration of the preceding vehicle are acquired through sensors. Based on the acquired information, the expected acceleration of the current vehicle is calculated according to the following formula, and the current vehicle is driven according to the expected acceleration:

[0070] u i,2 (t) = k1[p i-1 (tg i,2 )-p i (t)-L i -v i (t)h i -d i]+k2[v i-1 (tg i,2 )-v i (t)-a i (t)h i ]+a i (t)

[0071] g i,2 ≥δ p,i

[0072] i=1,…,n

[0073] Where u i,2 (t) represents the expected acceleration of vehicle i at time t under the single-vehicle robust control mode, g i,2 represents the delay term in the single-vehicle robust control mode.

[0074] The derivation process of the above formula is as follows: In a queuing system with delay, the expected acceleration of the subject vehicle i in the single-vehicle robust control mode is:

[0075]

[0076] Where g i,2 Is to meet the delayed steady-state single-vehicle robust control mode g i,2 ≥δ p,i The delay is no less than the sensor delay δ p,i .

[0077] In the above methods, the platoon robust control mode and the single-vehicle robust control mode can achieve different performances by meeting different conditions. See the following for details.

[0078] (1) Local stability can be achieved when the platoon robust control mode and the single-vehicle robust control mode meet the following conditions:

[0079]

[0080] (2) Vehicle platoon stability can be achieved when the platoon robust control mode meets the following conditions:

[0081]

[0082] The following proves that: the controller design block diagram of the queue robust control mode is as follows Figure 2 As shown. The position transfer function between vehicle i-1 and vehicle i is:

[0083]

[0084] in, is the delay term of vehicle i introduced by the delay compensation strategy in the platoon robust control mode in the frequency domain. and D e,i (z), Ψ in the queue robust control mode CACC (z) The standard amplitude remains unchanged.

[0085] In order to ensure queue stability in the queue robust control mode, the present invention requires:

[0086]

[0087] In order to fully compensate for the delay, the present invention also requires Therefore, the time interval calculation formula for ensuring the stability of the delayed steady-state queue robust control mode is:

[0088] (3) When the single-vehicle robust control mode meets the following conditions, vehicle platoon stability can be achieved:

[0089]

[0090] The following proves: Figure 3 This is a block diagram of the single-vehicle robust control mode based on the delay compensation strategy and Smith predictor. Gsmith,i(z) is the Smith predictor used to compensate for the acceleration sensing delay of the target vehicle i:

[0091] G smith,i (z) = G i (z)(1-D e,i (z))

[0092] Among them, D e,i (z) is the acceleration delay of vehicle i in the frequency domain.

[0093] Through Laplace transform, we get the following formula

[0094]

[0095] at the same time:

[0096] in, is the delay of vehicle i introduced by the delay compensation strategy in the single-vehicle robust control mode in the frequency domain. and D e,i (z), the canonical amplitude Ψ of the single-vehicle robust control mode ACC (z) remain unchanged.

[0097] at the same time:

[0098]

[0099] The above formula guarantees the stability of the queue in the delayed steady-state single-vehicle robust control mode

[0100]

[0101] Sufficient conditions for ensuring the stability of the single-vehicle robust control mode are derived

[0102] To compensate for the sensing delay, g i,2 ≥δ p,i

[0103] Combining these two conditions, the time interval that ensures the stability of the queue system under the delayed steady-state single-vehicle robust control mode can be obtained as follows:

[0104]

[0105] (4) When the platoon robust control mode and the single-vehicle robust control mode meet the following conditions, stability and robustness can be achieved simultaneously:

[0106]

[0107] In systems with information delays, acceleration is attenuated by the vehicle platoon system, regardless of whether the delay-robust single-vehicle robust control mode or the delay-steady platoon robust control mode is employed. This emphasizes that the stability and robustness of vehicle platoon systems using a delay compensation strategy and a Smith predictor can be guaranteed under information delay conditions. The following table summarizes the derived sufficient conditions and propositions for local stability and platoon stability with respect to time intervals for both the single-vehicle robust control mode and the platoon robust control mode. Therefore, a minimum time interval requirement can be provided for the vehicle platoon system to achieve stability / robustness and prevent performance degradation caused by communication interruptions.

[0108] Table 1: Sufficient conditions for local and queue stability of vehicle queuing systems with respect to time intervals

[0109]

[0110]

[0111] By introducing a delay compensation strategy and a Smith predictor, delay-robust controllers for both single-vehicle and platoon robust control modes are developed to mitigate the negative impact of information delay on string-stability control. This is achieved through two measures: multi-source state information synchronization and acceleration information prediction.

[0112] Example 2

[0113] An embodiment of the present invention provides a robust control system for an intelligent connected vehicle platoon, which is applied to a vehicle and includes:

[0114] A robust control system for an intelligent connected vehicle platoon, comprising:

[0115] The mode selection module is used to test the communication status of the intelligent connected vehicle. If the communication is normal, the platoon robust controller is used; if the communication is interrupted, the single vehicle robust controller is used;

[0116] The platoon robust controller is used to adjust the vehicle distance using the platoon robust control mode whenever a preset vehicle distance adjustment interval is reached. Specifically, it obtains the position, speed, and actual acceleration of the preceding vehicle through sensors, predicts the current vehicle's predicted acceleration using a Smith predictor, and obtains the preceding vehicle's expected acceleration through communication with the preceding vehicle. Based on this information, it calculates the current vehicle's expected acceleration according to the following formula, and drives the current vehicle according to the expected acceleration:

[0117] u i,1 (t) = k1[p i-1 (tg i,1 )-p i (t)-L i -v i (t)h i -d i ]

[0118] +k2[v i-1 (tg i,1 )-v i (t)-a i (t)h i ]+a i (t)+q i (t)

[0119]

[0120] Where u i,1 (t) represents the expected acceleration of vehicle i at time t in the platoon robust control mode, i represents the index number of the vehicle in the intelligent connected vehicle platoon, the leading vehicle has an index number of 0, and the following vehicles are indexed from front to back as 1,…,n, where n is the number of following vehicles, k1 and k2 represent the control gain coefficients of the vehicle, and p i-1 (t), p i (t) represents the position of vehicle i-1 and i at time t, L i is the length of vehicle i, v i-1 (t), v i (t) represents the speed of vehicles i-1 and i at time t, h i represents the preset distance adjustment time interval of vehicle i, d i Indicates the distance between vehicles at rest, a i-1 (t) represents the actual acceleration of vehicle i-1, ai (t) represents the predicted acceleration of vehicle i at time t, q i (t) represents the middle term, represents the derivative, τ i-1 represents the time lag of vehicle i-1 in achieving acceleration, τ i represents the time lag of vehicle i in achieving acceleration, u i-1 (t) represents the expected acceleration of vehicle i-1 at time t; g i,1 represents the delay term in the queue robust control mode, δ p,i represents the sensor delay of vehicle i, δ e,i-1 represents the sensor delay of vehicle i-1, θ i Indicates communication delay;

[0121] The single-vehicle robust controller is used to adjust the distance between vehicles using a single-vehicle robust control mode whenever a preset distance adjustment time interval is reached. Specifically, the controller obtains the position, speed, and actual acceleration of the preceding vehicle through sensors, calculates the expected acceleration of the current vehicle based on the acquired information according to the following formula, and drives the current vehicle according to the expected acceleration:

[0122] u i,2 (t) = k1[p i-1 (tg i,2 )-p i (t)-L i -v i (t)h i -d i ]

[0123] +k2[v i-1 (tg i,2 )-v i (t)-a i (t)h i ]+a i (t)

[0124] g i,2 ≥δ p,i

[0125] i=1,…,n

[0126] Where u i,2 (t) represents the expected acceleration of vehicle i at time t under the single-vehicle robust control mode, g i,2 represents the delay term in the single-vehicle robust control mode.

[0127] The system provided in the embodiment of the present invention can be used to execute the method provided in the first embodiment of the present invention, and has the corresponding functions and beneficial effects of the execution method. For any details not provided in detail, please refer to the first embodiment and will not be repeated here.

[0128] It is worth noting that in the embodiment of the above system, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0129] The embodiments described above are merely illustrative, wherein the modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, i.e., they may be located in one place or distributed across multiple network modules. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Those skilled in the art will readily appreciate that each embodiment may be implemented using software plus a necessary general-purpose hardware platform, or may be implemented solely through hardware, as long as the functionality or effect can be achieved.

Claims

1. A robust control method for an intelligent connected vehicle platoon, characterized in that: The steps include: (1) Testing the communication status of the intelligent connected vehicle. If the communication is normal, proceed to step (2); if the communication is interrupted, proceed to step (3); (2) The platoon robust control mode is used to adjust the vehicle distance. Specifically, whenever the preset vehicle distance adjustment time interval is reached, the position, speed, and actual acceleration of the preceding vehicle are obtained through sensors. The predicted acceleration of the current vehicle is predicted by the Smith predictor. The expected acceleration of the preceding vehicle is obtained through communication with the preceding vehicle. Based on the obtained information, the expected acceleration of the current vehicle is calculated according to the following formula, and the current vehicle is driven according to the expected acceleration: u i,1 (t)=k1[p i-1 (t-g i,1 )-p i (t)-L i -v i (t)h i -d i ] +k2[v i-1 (t-g i,1 )-v i (t)-a i (t)h i ]+a i (t)+q i (t) Where u i,1 (t) represents the expected acceleration of vehicle i at time t in the platoon robust control mode, i represents the index number of the vehicle in the intelligent connected vehicle platoon, the leading vehicle has an index number of 0, and the following vehicles are indexed from front to back as 1,…,n, where n is the number of following vehicles, k1 and k2 represent the control gain coefficients of the vehicle, and p i-1 (t), p i (t) represents the position of vehicle i-1 and i at time t, L i is the length of vehicle i, v i-1 (t), v i (t) represents the speed of vehicles i-1 and i at time t, h i represents the preset distance adjustment time interval of vehicle i, d i Indicates the distance between vehicles at rest, a i-1 (t) represents the actual acceleration of vehicle i-1, a i (t) represents the predicted acceleration of vehicle i at time t, q i (t) represents the middle term, represents the derivative, τ i-1 represents the time lag of vehicle i-1 in achieving acceleration, τ i represents the time lag of vehicle i in achieving acceleration, u i-1 (t) represents the expected acceleration of vehicle i-1 at time t; g i,1 represents the delay term in the queue robust control mode, δ p,i represents the sensor delay of vehicle i, δ e,i-1 represents the sensor delay of vehicle i-1, θ i Indicates communication delay; (3) Single-vehicle robust control mode is used for distance adjustment. Specifically, whenever the preset distance adjustment time interval is reached, the position, speed, and actual acceleration of the preceding vehicle are acquired through sensors. Based on the acquired information, the expected acceleration of the current vehicle is calculated according to the following formula, and the current vehicle is driven according to the expected acceleration: u i,2 (t)=k1[p i-1 (t-g i,2 )-p i (t)-L i -v i (t)h i -d i ] +k2[v i-1 (t-g i,2 )-v i (t)-a i (t)h i ]+a i (t) g i,2 ≥δ p,i i=1,…,n Where u i,2 (t) represents the expected acceleration of vehicle i at time t under the single-vehicle robust control mode, g i,2 represents the delay term in the single-vehicle robust control mode.

2. The robust control method for intelligent connected vehicle platoon according to claim 1, characterized in that: The platoon robust control mode and the single vehicle robust control mode also meet the following conditions to achieve local stability:

3. The method for robust control of intelligent connected vehicle platoons according to claim 1, characterized in that: The platoon robust control mode also satisfies the following conditions to achieve vehicle platoon stability:

4. The method for robust control of an intelligent connected vehicle platoon according to claim 1, characterized in that: The single-vehicle robust control mode also satisfies the following conditions to achieve vehicle platoon stability:

5. The method for robust control of intelligent connected vehicle platoons according to claim 1, characterized in that: The platoon robust control mode and the single-vehicle robust control mode also satisfy the following conditions simultaneously, thereby achieving stability and robustness of the vehicle platoon system:

6. A robust control system for an intelligent connected vehicle platoon, characterized in that: include: The mode selection module is used to test the communication status of the intelligent connected vehicle. If the communication is normal, the queue robust controller is used; if the communication is interrupted, the single vehicle robust controller is used; The platoon robust controller is used to adjust the vehicle distance using the platoon robust control mode whenever a preset vehicle distance adjustment interval is reached. Specifically, it obtains the position, speed, and actual acceleration of the preceding vehicle through sensors, predicts the current vehicle's predicted acceleration using a Smith predictor, and obtains the preceding vehicle's expected acceleration through communication with the preceding vehicle. Based on this information, it calculates the current vehicle's expected acceleration according to the following formula, and drives the current vehicle according to the expected acceleration: u i,1 (t)=k1[p i-1 (t-g i,1 )-p i (t)-L i -v i (t)h i -d i ] +k2[v i-1 (t-g i,1 )-v i (t)-a i (t)h i ]+a i (t)+q i (t) Where u i,1 (t) represents the expected acceleration of vehicle i at time t in the platoon robust control mode, i represents the index number of the vehicle in the intelligent connected vehicle platoon, the leading vehicle has an index number of 0, and the following vehicles are indexed from front to back as 1,…,n, where n is the number of following vehicles, k1 and k2 represent the control gain coefficients of the vehicle, and p i-1 (t), p i (t) represents the position of vehicle i-1 and i at time t, L i is the length of vehicle i, v i-1 (t), v i (t) represents the speed of vehicles i-1 and i at time t, h i represents the preset distance adjustment time interval of vehicle i, d i Indicates the distance between vehicles at rest, a i-1 (t) represents the actual acceleration of vehicle i-1, a i (t) represents the predicted acceleration of vehicle i at time t, q i (t) represents the middle term, represents the derivative, τ i-1 represents the time lag of vehicle i-1 in achieving acceleration, τ i represents the time lag of vehicle i in achieving acceleration, u i-1 (t) represents the expected acceleration of vehicle i-1 at time t; g i,1 represents the delay term in the queue robust control mode, δ p,i represents the sensor delay of vehicle i, δ e,i-1 represents the sensor delay of vehicle i-1, θ i Indicates communication delay; The single-vehicle robust controller is used to adjust the distance between vehicles using a single-vehicle robust control mode whenever a preset distance adjustment time interval is reached. Specifically, the controller obtains the position, speed, and actual acceleration of the preceding vehicle through sensors, calculates the expected acceleration of the current vehicle based on the acquired information according to the following formula, and drives the current vehicle according to the expected acceleration: u i,2 (t)=k1[p i-1 (t-g i,2 )-p i (t)-L i -v i (t)h i -d i ] +k2[v i-1 (t-g i,2 )-v i (t)-a i (t)h i ]+a i (t) g i,2 ≥δ p,i i=1,…,n Where u i,2 (t) represents the expected acceleration of vehicle i at time t under the single-vehicle robust control mode, g i,2 represents the delay term in the single-vehicle robust control mode.

7. The intelligent connected vehicle platoon robust control system according to claim 6, characterized in that: The platoon robust controller and the single-vehicle robust controller also satisfy the following conditions to achieve local stability:

8. The intelligent connected vehicle platoon robust control system according to claim 6, characterized in that: The platoon robust controller also satisfies the following conditions to achieve vehicle platoon stability:

9. The intelligent connected vehicle platoon robust control system according to claim 6, characterized in that: The single-vehicle robust controller also satisfies the following conditions to achieve vehicle platoon stability:

10. The intelligent connected vehicle platoon robust control system according to claim 6, characterized in that: The platoon robust controller and the single-vehicle robust controller also satisfy the following conditions simultaneously, thereby achieving stability and robustness of the vehicle platoon system:

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