Oscillation suppression method and system for multi-front-vehicle following topological vehicle queue system

Abstract

The invention discloses a multi-front-vehicle following topology vehicle queue system oscillation suppression method and system, and the method comprises the steps: constructing a vehicle queue system based on multi-front-vehicle following topology, determining the control rate of the vehicle queue system based on a vehicle longitudinal dynamics model, and further describing the inherent oscillation characteristics of the vehicle queue system, based on the inherent oscillation characteristics, oscillation suppression is conducted on the vehicle queue system, by determining parameters lambda x and lambda v, the system is made to be in an over-damping state while meeting the string stability, and the over-damping state means that after the system is disturbed, the states (such as the vehicle speed and the vehicle distance) of the system can be directly converged to a balance point without overshoot; and back-and-forth oscillation around the balance point is not generated. Therefore, endogenous natural oscillation of a vehicle queue system is inhibited fundamentally, and frequent acceleration and deceleration caused by internal interaction of vehicles in the queue are avoided; therefore, the stability of queue driving and the comfort of drivers and passengers are obviously improved.

Description

Technical Field

[0001] This invention belongs to the field of vehicle cooperative driving, specifically relating to a method and system for oscillation suppression in a multi-lead vehicle following topology vehicle platoon system. Background Technology

[0002] Connected autonomous vehicles (CAVs) based on automation and connectivity technologies interact with each other through vehicle-to-vehicle communication, enabling cooperative driving. Vehicle platooning allows vehicles to form a queue with shorter intervals between each other, reducing aerodynamic drag on following vehicles. Furthermore, cooperative driving among vehicles in the queue reduces unnecessary speed fluctuations. These characteristics allow vehicle platooning systems to significantly improve road capacity and reduce energy consumption. To achieve the desired platooning control, individual vehicles in the queue adjust their state based on the behavior of other vehicles. The interaction between slow and fast vehicles can cause frequent acceleration and deceleration maneuvers within the queue, resulting in inherent oscillations within the vehicle platooning system. Additionally, when the frequency of an external disturbance approaches the natural frequency of the vehicle platooning system, resonance can occur, leading to a sharp amplification of the amplitude and causing the system to deviate significantly from its desired performance. Vehicle platooning oscillations result in adverse consequences such as driving discomfort, increased energy consumption, and increased safety risks. Summary of the Invention

[0003] The purpose of this invention is to provide a method and system for oscillation suppression in a multi-leader vehicle platooning system with a following topology, so as to overcome the shortcomings of the prior art.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A method for suppressing oscillations in a multi-leader vehicle platooning system includes the following steps: S1. Construct a vehicle platooning system based on a multi-leader following topology, and determine the control law of the vehicle platooning system based on the vehicle longitudinal dynamics model, thereby characterizing the inherent oscillation characteristics of the vehicle platooning system. The inherent oscillation characteristics include at least the system's natural frequency ω0 and damping ratio. ; S2. Based on the inherent oscillation characteristics, oscillation suppression is performed on the vehicle queuing system, specifically including: S2.1, Inherent Oscillation Suppression: Based on the series stability condition and damping ratio characteristics of the vehicle platooning system, a set of sensitivity parameters λ is determined. x and λ v This allows the system to be in an overdamped state while satisfying series stability, thereby suppressing endogenous oscillations in the system. S2.2, External Oscillation Suppression: The intensity A of external disturbances acting on the vehicle platooning system is quantified in real time, and the sensitivity parameter λ is dynamically adjusted based on the disturbance intensity A. v This is to enhance the system's ability to resist external oscillations caused by external disturbances.

[0005] Preferably, the multi-vehicle following topology is such that any vehicle in the queue can obtain information about the M vehicles ahead of it, where M ≥ 2; the control law of the vehicle longitudinal dynamics model adopts a weighted multi-vehicle following Helly model, the expression of which is:

[0006] in, For vehicles n Control of acceleration, For vehicles n The first one in front of it m The spacing between vehicles, For vehicles n The first one in front of it m The speed difference of the vehicles For vehicles n speed, For the driver's reaction time, s 0 represents the minimum permissible safe distance. α m and β m These are the weighting factors for spacing information and velocity difference information, respectively. λ x and λ v Representing vehicles n Sensitivity to the distance and speed difference between all vehicles it follows.

[0007] Preferably, the weighting factor α m and β m Allocation is performed according to the distance-weighted principle, satisfying... α 1+ α 2+ …+ α M =1, β 1+ β 2+…+ β M =1, and the allocation formula is:

[0008] Where r is a parameter greater than 1.

[0009] Preferably, in step S1, the natural frequency ω 0 and damping ratio ξApproximately satisfy

[0010] .

[0011] Preferably, in step S2.1, the string stability condition of the vehicle queuing system is:

[0012] Based on the stability condition of this string, a regulatory factor is introduced. ,make and substitute it into the damping ratio. The sensitivity parameter is obtained by simultaneously solving the expression. λ x and λ v The analytical solution.

[0013] Preferably, the regulatory factor The value range is from 1.0 to 2.0, and the damping ratio is... The value range is from 1.0 to 1.2.

[0014] Preferably, in step S2.2, the dynamic adjustment of the sensitivity parameter λ v The strategy is:

[0015] Where 'a' is a positive adjustment factor used to adjust the base of the exponential function. A The disturbance intensity is obtained through real-time quantization. A ≥0, For parameters λ v The maximum allowed value; The disturbance intensity A The quantification method is as follows: the predicted value of the vehicle speed is calculated based on the vehicle longitudinal dynamics model. And obtain the actual measurement value of vehicle speed. The disturbance intensity is obtained by calculating the absolute difference between the two, i.e. .

[0016] An oscillation suppression system for a multi-leader vehicle platooning topology includes a preprocessing module and a suppression module; The preprocessing module is used to construct a vehicle platooning system based on a multi-leader following topology, and to determine the control law of the vehicle platooning system based on the vehicle longitudinal dynamics model, thereby characterizing the inherent oscillation characteristics of the vehicle platooning system, which include at least the system's natural frequency and damping ratio. The suppression module, based on the inherent oscillation characteristics, performs oscillation suppression on the vehicle platooning system, specifically including: Inherent oscillation suppression: determining a set of sensitivity parameters λ based on the series stability condition and damping ratio characteristics of the vehicle platooning system. x and λ v This ensures that the system is in an overdamped state while maintaining series stability, thereby suppressing endogenous oscillations. External oscillation suppression involves real-time quantization of the intensity A of external disturbances acting on the vehicle platoon system, and dynamic adjustment of the sensitivity parameter λ based on the disturbance intensity A. v This is to enhance the system's ability to resist external oscillations caused by external disturbances.

[0017] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the oscillation suppression method for a multi-leader vehicle platooning system.

[0018] A computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the oscillation suppression method for a multi-leader vehicle queuing system with a following topology.

[0019] Compared with the prior art, the present invention has the following beneficial technical effects: This invention discloses a method for oscillation suppression in a vehicle platooning system with a multi-leader following topology. It constructs a vehicle platooning system based on a multi-leader following topology, determines the control law of the platooning system based on a longitudinal vehicle dynamics model, and then characterizes the inherent oscillation characteristics of the platooning system. Based on these inherent oscillation characteristics, oscillation suppression is performed on the platooning system by determining the parameter λ. x and λ v This allows the system to maintain series stability while operating in an overdamped state. An overdamped state means that after being disturbed, the system's state (such as vehicle speed and distance) will directly converge to the equilibrium point without overshoot, without oscillating around the equilibrium point. This fundamentally suppresses the inherent oscillations of the vehicle platoon system, avoiding frequent acceleration and deceleration caused by internal interactions between vehicles in the platoon; thus significantly improving the smoothness of platoon driving and the comfort of passengers.

[0020] Preferably, when the detected external disturbances (such as crosswinds or changes in road slope) are small, λ v Maintaining the value near the optimal value ensures a fast response; as the disturbance intensity A increases, λ v The damping ratio increases exponentially, thereby rapidly improving the system's damping ratio and effectively suppressing resonance and oscillation amplification caused by external disturbances. This dynamic adjustment mechanism enables the system to maintain good stability under external disturbances of varying intensities, greatly enhancing its robustness.

[0021] The entire oscillation suppression process of this invention reduces unnecessary acceleration and deceleration. The main energy-saving advantage of vehicle platoons comes from shortening the distance between vehicles to reduce wind resistance. However, oscillations force vehicles to brake and accelerate frequently, which increases energy consumption. This invention effectively suppresses endogenous and exogenous oscillations, minimizing these unnecessary speed fluctuations, allowing vehicles to travel at a smoother speed, thereby further reducing energy consumption and improving the economy of the entire platoon. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the oscillation suppression method for a multi-leader vehicle queuing system with a following topology, as described in an embodiment of the present invention.

[0023] Figure 2 This is a schematic diagram of the communication topology of the vehicle queuing system under the multi-leader vehicle following topology in an embodiment of the present invention.

[0024] Figure 3 These are the critical string stability curve and critical damping curve of the multi-leader following topology vehicle platoon system in this embodiment of the invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] like Figure 1 As shown, the present invention provides a method for oscillation suppression in a multi-leader vehicle platooning system, specifically including the following steps: S1. Construct a vehicle platooning system based on a multi-leader following topology, and determine the control law of the vehicle platooning system based on the vehicle longitudinal dynamics model, thereby characterizing the inherent oscillation characteristics of the vehicle platooning system. The inherent oscillation characteristics include at least the system's natural frequency ω0 and damping ratio ξ. S2. Based on the inherent oscillation characteristics, oscillation suppression is performed on the vehicle platooning system, specifically including: S2.1, Inherent oscillation suppression: Based on the series stability condition and damping ratio characteristics of the vehicle platooning system, a set of sensitivity parameters λ is determined. x and λ v This ensures that the system is in an overdamped state while satisfying string stability, thereby suppressing endogenous oscillations; S2.2, External Oscillation Suppression: The intensity A of external disturbances acting on the vehicle platoon system is quantified in real time, and the sensitivity parameter λ is dynamically adjusted based on the disturbance intensity A. v This is to enhance the system's ability to resist external oscillations caused by external disturbances.

[0028] In a specific embodiment of the present invention, the multi-vehicle following topology is such that any vehicle in the queue can obtain information about the M vehicles in front of it, where M ≥ 2; the control law of the vehicle longitudinal dynamics model adopts a weighted multi-vehicle following Helly model, the expression of which is:

[0029] in, For vehicles n Control of acceleration, For vehicles n The first one in front of it m The spacing between vehicles, For vehicles n The first one in front of it m The speed difference of the vehicles For vehicles n speed, For the driver's reaction time, s 0 represents the minimum permissible safe distance. α m and β m These are the weighting factors for spacing information and velocity difference information, respectively. λ x and λ v Representing vehicles n Sensitivity to the distance and speed difference between all vehicles it follows.

[0030] like Figure 2As shown, the communication topology of a vehicle platoon composed of homogeneous connected vehicles follows a multiple-predecessor-following (MPF) topology. Figure 1 This indicates the number of followers. M In the case of =2, x n and v n Representing vehicles n Position and velocity, s n,n-m and Δ v n,n-m Representing vehicles n The first one in front of it m The distance between vehicles and the speed difference (1≤ m ≤ M ),satisfy: (1) (2) in l n-m For vehicles n With the front m The length of a vehicle can be considered to be the same for all vehicles in a vehicle queue consisting of homogeneous connected vehicles.

[0031] The vehicles in the platoon satisfy second-order longitudinal dynamics, i.e., control law. By vehicle n It is determined by the distance and speed difference between itself and all the vehicles it follows, as well as its own speed, as shown in equation (3).

[0032] (3) For a multi-leader following topology vehicle platooning system that meets the above conditions, its inherent oscillation characteristics can be expressed by the system's natural frequency. ω 0 and damping ratio To characterize it, the mathematical expression approximately satisfies (4) (5) here, Represents the control rate function f The first-order partial derivative with respect to a certain quantity. For a vehicle queuing system, when a disturbance occurs, <1 means that the state of each vehicle in the queue will oscillate around a certain equilibrium position until convergence; ≥1 means that the state of each vehicle in the queue does not oscillate back and forth during the convergence to the equilibrium position. This applies when there is a frequency and a natural frequency. ωWhen the external disturbance is equal to or close to 0, resonance will occur, causing a sharp amplification of the amplitude and making the system deviate significantly from the expected performance.

[0033] The control rate is calculated using a weighted multi-vehicle following Helly model (MPF-Helly model). ,satisfy: (6) Here λ x and λ v Representing vehicles n Sensitivity to the distance and speed difference between all vehicles it follows. τ For reaction time, s 0 represents the minimum permissible safe distance. α m and β m The weighting factors for the spacing information and the velocity difference information are respectively, satisfying... α 1+ α 2+ …+ α M =1, β 1+ β 2+…+ β M =1. Considering that the closer the followed vehicle is to the vehicle, the greater its influence, the weights are allocated according to equation (7), where... r It is a parameter greater than 1.

[0034] (7) For a multi-leader following topology vehicle platooning system that satisfies control law (6), the natural frequency ω 0 and damping ratio Approximately satisfies: (8)

[0035] The string stability of a vehicle platoon refers to the fact that disturbances from the preceding vehicle are not amplified after passing through the platoon. For a multi-vehicle following topology vehicle platoon system that satisfies the control law equation (6) and the weight allocation mechanism equation (7), the string stability condition is: (10) like Figure 3 As shown, this demonstrates the situation with a given parameter. M =5, τUnder the condition of 0.5, the critical cascade stability curve and critical damping curve of the multi-leader following topology vehicle platoon system are shown. When the system is in the overdamped and cascade stable region, the state of each vehicle in the platoon does not oscillate back and forth during the convergence to the equilibrium position, and the error is not amplified by the platoon. At the same time, when the system approaches the critical damping and critical cascade stability, it can maintain a relatively fast response to external changes; based on this, let (11) By combining equations (9) and (11), the sensitivity parameter can be obtained. λ x and λ v The analytical expression is (using respectively) and express).

[0036] (12) (13) The regulatory factor The value range is from 1.0 to 2.0, and the damping ratio is... The value range is from 1.0 to 1.2. In this embodiment, we take... =1.05, η =1.5 calculation and This allows the multi-leader vehicle platooning system to achieve a balance between suppressing inherent oscillations and responding quickly to external changes.

[0037] When an external disturbance with a frequency equal to or close to the natural frequency exists, resonance will occur, leading to a sharp amplification of the amplitude and causing the system to deviate significantly from its desired performance. Reasonable utilization of the system's damping characteristics can effectively suppress oscillations caused by external disturbances. For a multi-leader vehicle platooning system satisfying the control law equation (6) and the weight allocation mechanism equation (7), its damping ratio... With parameters λ v The relationship is linear and can be increased. λ v The damping ratio is increased by adjusting its value to enhance the system's resistance to oscillations. However, an excessively large damping ratio can also hinder the system from adjusting its state in a timely manner to adapt to external changes. Therefore, it is necessary to quantify the intensity of external disturbances and adjust the parameters reasonably according to the intensity of the disturbances. λ v This achieves a balance between the system's disturbance rejection capability and its ability to respond quickly to external changes. Let the disturbance strength be... A ( A ≥0), adjust the parameter using equation (14) λ v.

[0038] (14) here, a This is an adjustment factor that adjusts the base of an exponential function. For parameters λ v The maximum allowed value. When the disturbance intensity is small, adjust the parameter. λ v near This allows the vehicle queuing system to approach critical damping while ensuring string stability and preventing overdamping, suppressing both the system's inherent oscillations and its ability to respond quickly to external changes; as the disturbance intensity increases, λ v As the damping ratio increases exponentially, the system's disturbance rejection capability is enhanced; however, considering that an excessively large damping ratio would hinder the system from adjusting its state in a timely manner to adapt to external changes, the parameters... λ v There is an upper limit It will not increase indefinitely with increasing disturbance intensity. In this embodiment, the adjustment factor... a =1, parameter λ v Maximum allowed value =8.

[0039] This application utilizes the second-order longitudinal dynamics of equation (3) to construct the residual and the disturbance intensity. A Quantify it. Record it. The predicted vehicle speed is obtained according to equation (3). Given the measured vehicle speed, the disturbance intensity is... A It can be constructed as (| | indicates taking the absolute value): .

[0040] In another embodiment of the present invention, an oscillation suppression system for a multi-lead vehicle following topology vehicle platooning system is provided, including a preprocessing module and a suppression module; The preprocessing module is used to construct a vehicle platooning system based on a multi-leader following topology, and to determine the control law of the vehicle platooning system based on the vehicle longitudinal dynamics model, thereby characterizing the inherent oscillation characteristics of the vehicle platooning system, which include at least the system's natural frequency and damping ratio. The suppression module, based on the inherent oscillation characteristics, performs oscillation suppression on the vehicle platooning system, specifically including: Inherent oscillation suppression: determining a set of sensitivity parameters λ based on the series stability condition and damping ratio characteristics of the vehicle platooning system. x and λ vThis ensures that the system is in an overdamped state while maintaining series stability, thereby suppressing endogenous oscillations. External oscillation suppression involves real-time quantization of the intensity A of external disturbances acting on the vehicle platoon system, and dynamic adjustment of the sensitivity parameter λ based on the disturbance intensity A. v This is to enhance the system's ability to resist external oscillations caused by external disturbances.

[0041] In another embodiment of the present invention, a terminal device is provided, comprising a processor and a memory. The memory stores a computer program, which includes program instructions. The processor executes the program instructions stored in the computer storage medium. The processor may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing and control core of the terminal, suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions to achieve a corresponding method flow or corresponding function. The processor described in this embodiment of the present invention can be used in the operation of an oscillation suppression method for a multi-vehicle following topology vehicle platoon system.

[0042] In another embodiment of the present invention, a storage medium is provided, specifically a computer-readable storage medium (Memory), which is a memory device in a terminal device used to store programs and data. It is understood that the computer-readable storage medium here can include both the built-in storage medium in the terminal device and extended storage media supported by the terminal device. The computer-readable storage medium provides storage space that stores the terminal's operating system. Furthermore, the storage space also stores one or more instructions suitable for loading and execution by a processor. These instructions can be one or more computer programs (including program code). It should be noted that the computer-readable storage medium here can be high-speed RAM or non-volatile memory, such as at least one disk storage device. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the oscillation suppression method for multi-vehicle following topology vehicle platooning systems in the above embodiments.

[0043] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0044] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0045] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure The function specified in one or more boxes.

[0046] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. ​ One or more processes and / or boxes ​ The steps of the function specified in one or more boxes.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for suppressing oscillations in a multi-leader vehicle platooning system, characterized in that, Includes the following steps: S1. Construct a vehicle platooning system based on a multi-leader following topology, and determine the control law of the vehicle platooning system based on the vehicle longitudinal dynamics model, thereby characterizing the inherent oscillation characteristics of the vehicle platooning system. The inherent oscillation characteristics include at least the system's natural frequency ω0 and damping ratio. ; S2. Based on the inherent oscillation characteristics, oscillation suppression is performed on the vehicle queuing system, specifically including: S2.1, Inherent Oscillation Suppression: Based on the series stability condition and damping ratio characteristics of the vehicle platooning system, a set of sensitivity parameters λ is determined. x and λ v This allows the system to be in an overdamped state while satisfying series stability, thereby suppressing endogenous oscillations in the system. S2.2, External Oscillation Suppression: The intensity A of external disturbances acting on the vehicle platooning system is quantified in real time, and the sensitivity parameter λ is dynamically adjusted based on the disturbance intensity A. v This is to enhance the system's ability to resist external oscillations caused by external disturbances.

2. The oscillation suppression method for a multi-leader vehicle platooning system according to claim 1, characterized in that, The multi-vehicle following topology ensures that any vehicle in the queue can obtain information about the M vehicles ahead of it, where M ≥ 2; the control law of the vehicle longitudinal dynamics model adopts a weighted multi-vehicle following Helly model, the expression of which is: in, For vehicles n control rate, For vehicles n The first one in front of it m The spacing between vehicles, For vehicles n The first one in front of it m The speed difference of the vehicles For vehicles n speed, For the driver's reaction time, s 0 represents the minimum permissible safe distance. α m and β m These are the weighting factors for spacing information and velocity difference information, respectively. λ x and λ v Representing vehicles respectively n Sensitivity to the distance and speed difference between all vehicles it follows.

3. The oscillation suppression method for a multi-leader vehicle platooning system according to claim 2, characterized in that, The weighting factor α m and β m Allocation is performed according to the distance-weighted principle, satisfying... α 1+ α 2+….+ α M =1, β 1+ β 2+…+ β M =1, and the allocation formula is: Where r is a parameter greater than 1.

4. The oscillation suppression method for a multi-leader vehicle platooning system according to claim 2, characterized in that, In step S1, the natural frequency ω 0 and damping ratio ξ Approximately satisfies: 。 5. The oscillation suppression method for a multi-leader vehicle platooning system according to claim 4, characterized in that, In step S2.1, the string stability condition of the vehicle queuing system is: Based on the stability condition of this string, a regulatory factor is introduced. ,make and substitute it into the damping ratio. The sensitivity parameter is obtained by simultaneously solving the expression. λ x and λ v The analytical solution.

6. The oscillation suppression method for a multi-leader vehicle platooning system according to claim 5, characterized in that, The regulatory factor The value range is from 1.0 to 2.0, and the damping ratio is... The value range is from 1.0 to 1.

2.

7. A method for suppressing oscillations in a multi-leader vehicle platooning system according to claim 2 or 5, characterized in that, In step S2.2, the dynamic adjustment of the sensitivity parameter λ v The strategy is: Where 'a' is a positive adjustment factor used to adjust the base of the exponential function. A The disturbance intensity is obtained through real-time quantization. A ≥0, For parameters λ v The maximum allowed value; The disturbance intensity A The quantification method is as follows: the predicted value of the vehicle speed is calculated based on the vehicle longitudinal dynamics model. And obtain the actual measurement value of vehicle speed. The disturbance intensity is obtained by calculating the absolute difference between the two values, i.e. .

8. An oscillation suppression system for a multi-leader vehicle platooning system with a following topology, characterized in that, Includes a preprocessing module and a suppression module; The preprocessing module is used to construct a vehicle platooning system based on a multi-leader following topology, and to determine the control law of the vehicle platooning system based on the vehicle longitudinal dynamics model, thereby characterizing the inherent oscillation characteristics of the vehicle platooning system, which include at least the system's natural frequency and damping ratio. The suppression module, based on the inherent oscillation characteristics, performs oscillation suppression on the vehicle platooning system, specifically including: Inherent oscillation suppression: determining a set of sensitivity parameters λ based on the series stability condition and damping ratio characteristics of the vehicle platooning system. x and λ v This ensures that the system is in an overdamped state while maintaining series stability, thereby suppressing endogenous oscillations. External oscillation suppression involves real-time quantization of the intensity A of external disturbances acting on the vehicle platoon system, and dynamic adjustment of the sensitivity parameter λ based on the disturbance intensity A. v This is to enhance the system's ability to resist external oscillations caused by external disturbances.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the oscillation suppression method for a multi-leader vehicle platooning system as described in any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the oscillation suppression method for a multi-leader vehicle queuing system as described in any one of claims 1 to 8.

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