Method for controlling heterogeneous vehicle platoon based on event-triggering mechanism under directed topology

Abstract

The application discloses a heterogeneous vehicle platoon control method based on an event triggering mechanism under a directed topology, and comprises the following steps: constructing a heterogeneous vehicle platoon system, describing a cooperative control problem of a heterogeneous vehicle platoon composed of a leader vehicle and a follower vehicle through the heterogeneous vehicle platoon system; based on the heterogeneous vehicle platoon system, designing a hierarchical control framework comprising an observation layer and a tracking layer, and cooperatively controlling the heterogeneous vehicle platoon through the hierarchical control framework; according to a directed switching communication topology between vehicles, introducing an event triggering mechanism into the observation layer of the hierarchical control framework, designing an event triggered observer, and estimating a leader state; in the tracking layer of the hierarchical control framework, based on the observed state of the leader and the self state of the follower, designing multiple local tracking controllers, and tracking the leader state; analyzing the stability of the heterogeneous vehicle platoon system, verifying the observation ability of the observer and the tracking ability of the controller, and cooperatively controlling the heterogeneous vehicle platoon.

Description

Technical Field

[0001] This invention relates to the field of traffic control technology, and more specifically, to a heterogeneous vehicle queue control method based on an event-triggered mechanism under a directed topology. Background Technology

[0002] Vehicle platooning technology enables information exchange and coordinated control between vehicles through wireless communication, effectively reducing air resistance, saving fuel, and improving road capacity and driving safety. Traditional vehicle platooning control methods are mostly based on continuous communication or periodic sampling, which face challenges in real-world scenarios such as limited communication resources, directional switching topologies, and heterogeneous vehicle dynamics.

[0003] Most existing studies assume a fixed communication topology or satisfy continuous connectivity conditions, and rarely consider the combined impact of event triggering mechanisms and vehicle heterogeneity. While some studies have introduced event-triggered control, significant limitations remain: firstly, control protocol design often relies on solving high-dimensional matrix equations or linear matrix inequalities, resulting in excessive computational complexity and making them unsuitable for large-scale or real-time-critical queuing systems; secondly, many methods are not fully distributed, requiring the use of global topology information (such as eigenvalues ​​of the Laplace matrix or specific rules for switching topologies), limiting their practical application in dynamic, locally-connected communication environments. Furthermore, for vehicle queuing control with jointly connected directed topologies, the direct application of traditional Lyapunov methods is difficult, and effective distributed event-triggered protocol design and system stability proof methods are lacking.

[0004] Therefore, there is an urgent need for a collaborative control method that can adapt to topology switching, save communication resources, handle heterogeneous vehicle queues, and ensure system stability. Summary of the Invention

[0005] The purpose of this invention is to overcome the defects and shortcomings of the prior art and provide a heterogeneous vehicle queue control method based on an event-triggered mechanism under a directed topology. This method can effectively address the heterogeneity of the vehicle queue system in a network environment with limited communication resources and directed topology switching, while ensuring system stability.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A heterogeneous vehicle queue control method based on an event-triggered mechanism in a directed topology includes the following steps:

[0008] Construct a heterogeneous vehicle platooning system to describe the collaborative control problem of a heterogeneous vehicle platoon consisting of leader vehicles and follower vehicles.

[0009] Based on a heterogeneous vehicle queuing system, a hierarchical control framework including an observation layer and a tracking layer is designed to perform collaborative control of the heterogeneous vehicle queuing.

[0010] Based on the directed switching communication topology between vehicles, the observation layer of the hierarchical control framework introduces an event-triggered mechanism, designs an event-triggered observer, and estimates the leader state.

[0011] In the tracking layer of the hierarchical control framework, multiple local tracking controllers are designed based on the observed state of the leader and the self-state of the followers to track the leader's state.

[0012] The stability of the heterogeneous vehicle platooning system is analyzed to verify the observation capability of the observer and the tracking capability of the controller, and to implement coordinated control of the heterogeneous vehicle platooning.

[0013] Furthermore, a heterogeneous vehicle queuing system is constructed, including:

[0014] The leader vehicle is labeled 0, and the follower vehicles are labeled 1 to N. Communication between the N follower vehicles is represented by a directed graph. express, For a set of nodes; It is an edge set; Indicates following vehicles Can receive follower vehicles Information;

[0015] Define Enhanced Graph , It is a set of nodes that includes the leader vehicle and all follower vehicles. This represents an edge set, which includes the communication between the leader vehicle and the follower vehicles, as well as the communication between the follower vehicles. and Characterizing the communication topology between vehicles, the switching topology is modeled as , for The switching topology signal at any given time.

[0016] Furthermore, a heterogeneous vehicle queuing system is constructed, including:

[0017] The dynamic model of the following vehicle is constructed as follows:

[0018] ;

[0019] In the formula, express Follow the vehicle at all times state, , express Follow the vehicle at all times Location, express Follow the vehicle at all times speed, express Follow the vehicle at all times The acceleration; express Follow the vehicle at all times Control input; express Follow the vehicle at all times The output; express The first derivative with respect to time; Indicates following vehicles The system matrix; Indicates following vehicles The input matrix; Indicates following vehicles The output matrix;

[0020] , , Represented as:

[0021] ;

[0022] In the formula, Indicates following vehicles Inertial lag.

[0023] Furthermore, a heterogeneous vehicle queuing system is constructed, including:

[0024] The dynamic model of the leader vehicle is constructed as follows:

[0025] ;

[0026] In the formula, express The status of the leader's vehicle at all times; , express The location of the leader's vehicle at all times. express The speed of the leader's vehicle at all times express The output of the leader vehicle at all times; express The first derivative with respect to time; The system matrix representing the leader vehicle; The output matrix represents the leader vehicle;

[0027] , Represented as:

[0028] ;

[0029] In the formula, This represents the transpose of a matrix.

[0030] Furthermore, a hierarchical control framework comprising an observation layer and a tracking layer is designed, specifically as follows:

[0031] The upper observation layer designs an event-triggered observer for each follower vehicle, enabling the follower vehicle to observe the leader's state and generate the desired tracking trajectory;

[0032] The lower tracking layer designs a local tracking controller for each follower vehicle to ensure that each follower can track the trajectory generated by its own observer, ultimately achieving the coordinated and stable operation of the heterogeneous vehicle platoon.

[0033] The hierarchical control framework decouples communication from control: vehicles communicate only when an event is triggered at the upper level, while the lower level controller is responsible for ensuring the vehicle's tracking performance.

[0034] Furthermore, an event-triggered observer is designed, specifically as follows:

[0035] ;

[0036] In the formula, express The first derivative with respect to time; express Follow the vehicle at all times Observations on the status of the leader's vehicle; express Follow the vehicle at all times Its neighbor's follower vehicle The communication connection status between them, if time ,but ,otherwise ,and ; Indicates following vehicles The The event is triggered at the time. Indicates following vehicles The The event is triggered at the time. Design parameters for the observer; Let be the desired spacing vector. , Indicates the expected distance between adjacent vehicles; Indicates following vehicles The observer state estimate at the moment the event is triggered; Indicates following vehicles The neighbor's vehicle followed The observer state estimate at the moment the event is triggered satisfies the following equation:

[0037] ;

[0038] In the formula, Indicates following vehicles At any moment The most recent trigger time, index For the triggering time in the following vehicle The sequence number in the trigger sequence.

[0039] Furthermore, the event triggering mechanism is determined by the triggering function. Follow the vehicle at all times Trigger function for:

[0040] ;

[0041] In the formula, Represents the norm, For follower vehicles The observer state estimation error; , , For positive numbers, the trigger time is determined by... Definitely, inf represents the infmum, which is only determined when the condition is triggered. The vehicle will only be triggered when the conditions are met;

[0042] In a jointly connected directed topology, vehicle-to-vehicle communication occurs at both the triggering and topology switching times, but only at the triggering time. Follower vehicles Only the observations of the leader's vehicle It performs sampling and sends its own state information and trigger time to the outgoing neighbors. When switching topologies, it only sends the most recent sampling information and trigger time to the new outgoing neighbors without affecting the original outgoing neighbors.

[0043] Furthermore, a local tracking controller is designed, specifically as follows:

[0044] ;

[0045] In the formula, for Follow the vehicle at all times Local tracking controller, For follower vehicles The state feedback gain matrix; For follower vehicles The observer state feedforward gain matrix; The expansion vector of the expected spacing. .

[0046] Furthermore, the observation capabilities of the event-triggered observer are verified, specifically as follows:

[0047] Define observation error , Then we have:

[0048] ;

[0049] In the formula, express The first derivative with respect to time; express Input items for the current time; express The system matrix at any given time;

[0050] When the parameters in the triggering function, event triggering mechanism, and event triggering observer meet the conditions, the observation error converges to 0.

[0051] Furthermore, the tracking capability of the local tracking controller is verified, specifically as follows:

[0052] Assuming for the following vehicle There exists a full-rank matrix. This makes the following system of linear equations hold true:

[0053] ;

[0054] For event-triggered mechanisms, event-triggered observers, and local tracking controllers in a jointly connected directed topology, if the state feedback gain matrix is ​​chosen... Make It's Hurwitz's method, choosing the observer state feedforward gain matrix. satisfy This enables the achievement of the goal of coordinated control of vehicle platoons;

[0055] Define tracking error , ,get Regarding time The first derivative is:

[0056] ;

[0057] In the formula, for The first derivative with respect to time; The tracking error diagonal matrix; The observation error diagonal matrix; due to the tracking error diagonal matrix It's Hurwitz's, therefore the tracking error The convergence to 0 enables collaborative control of heterogeneous vehicle queues.

[0058] Compared with existing technologies, the event-triggered mechanism proposed in this invention can adapt to directed switching topologies that do not meet connectivity conditions. Based on a heterogeneous vehicle queuing system, this invention comprehensively considers the impact of switching topologies, event triggering, and vehicle heterogeneity, making it more practical and improving the safety, economy, and communication efficiency of vehicle queuing operations. Attached Figure Description

[0059] Figure 1 This is a flowchart of a heterogeneous vehicle queue control method based on an event-triggered mechanism under a directed topology.

[0060] Figure 2 This is a schematic diagram of a hierarchical control framework.

[0061] Figure 3 This is a schematic diagram of a distributed event triggering mechanism.

[0062] Figure 4 This is a schematic diagram of a jointly connected directed topology.

[0063] Figure 5 This is a schematic diagram of the trajectories of all vehicles in a heterogeneous vehicle queuing system under a jointly connected directed topology.

[0064] Figure 6 This diagram illustrates the observation error of an event-triggered observer in a jointly connected directed topology.

[0065] Figure 7 This is a schematic diagram of the event triggering sequence for all vehicles in a jointly connected directed topology. Detailed Implementation

[0066] The heterogeneous vehicle queue control method based on event triggering mechanism under directed topology of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0067] Please see Figure 1 This invention discloses a heterogeneous vehicle queue control method based on an event-triggered mechanism under a directed topology, comprising the following steps:

[0068] Construct a heterogeneous vehicle platooning system to describe the collaborative control problem of a heterogeneous vehicle platoon consisting of leader vehicles and follower vehicles.

[0069] Based on a heterogeneous vehicle queuing system, a hierarchical control framework including an observation layer and a tracking layer is designed to perform collaborative control of the heterogeneous vehicle queuing.

[0070] Based on the directed switching communication topology between vehicles, the observation layer of the hierarchical control framework introduces an event-triggered mechanism, designs an event-triggered observer, and estimates the leader state.

[0071] In the tracking layer of the hierarchical control framework, multiple local tracking controllers are designed based on the observed state of the leader and the self-state of the followers to track the leader's state.

[0072] The stability of the heterogeneous vehicle platooning system is analyzed to verify the observation capability of the observer and the tracking capability of the controller, and to implement coordinated control of the heterogeneous vehicle platooning.

[0073] Step S1: Construct a heterogeneous vehicle queuing system to describe the collaborative control problem of a heterogeneous vehicle queuing consisting of leader vehicles and follower vehicles.

[0074] In a heterogeneous vehicle queuing system, the leader vehicle is represented by label 0, and the follower vehicles are represented by labels 1 to N. Communication between the N follower vehicles is represented by a directed graph. It means that among them Represents a set of nodes. Represents the set of edges. Indicates following vehicles Can receive follower vehicles Information.

[0075] Define Enhanced Graph ,in This represents a set of nodes, with leader vehicles represented by label 0 and follower vehicles represented by labels 1 to N. Represents an edge set, containing information transfers from the leader vehicle to follower vehicles and between follower vehicles, if an edge sequence exists. , For nodes arrive Between If there are 10 nodes, then it is called a node. To the node There is a road leading to a destination.

[0076] A graph is called a graph if there exists a root node from which there is a directed path to any other node. It contains a spanning tree. These two graphs... and The represented communication topology can be represented by the following three matrices: (1) The adjacency matrix is ​​denoted as ,in , Representation matrix The Line number The elements of a column represent nodes. and nodes Communication relationships, nodes The neighbor set is defined as , and, when hour, ,otherwise ,and (2) The Laplace matrix is ​​denoted as ,in , and when hour, (3) The traction matrix is ​​denoted as ,in Represents follower nodes The communication weights with leader node 0, where diag represents a diagonal matrix, if node Being able to receive information from leaders means having ,otherwise .

[0077] Model the switching topology as ,in Let be a piecewise constant switching signal, representing a topology switch. Consider an infinite time series consisting of non-empty, bounded, and continuous intervals: ,in This represents the initial time. For each... , interval It is a continuous period of time, and these intervals are connected end to end, covering the entire timeline. Assume that positive constants exist. , making .

[0078] Each time interval Include Non-overlapping subspaces: ,satisfy , ,in Indicates the start time. Indicates the end time. Representing an interval The At each switching moment, Minimum dwell time. Within each sub-interval. within, signal Keep as a constant And the diagram is fixed as This is called the time interval. A subgraph within a time interval If the union of the subgraph contains a directed spanning tree rooted at the leader vehicle, and the information exchange between follower vehicles is directed, then... It is a jointly connected directed topology.

[0079] Define the adjacency matrix, Laplace matrix, and traction matrix corresponding to the switching topology as follows: , and and define In addition, the in-neighbor is defined as This indicates the following vehicle. The set of nodes that can receive information, with outgoing neighbors being This indicates the following vehicle. The set of nodes that can send information, in-degree and out-degree , where sup represents the supremum, and represent the maximum number of neighbors that any vehicle can receive and send information at any given time.

[0080] The dynamic model of the following vehicle is constructed as follows:

[0081] ;

[0082] In the formula, express Follow the vehicle at all times state, , express Follow the vehicle at all times Location, express Follow the vehicle at all times speed, express Follow the vehicle at all times The acceleration; express Follow the vehicle at all times Control input; express Follow the vehicle at all times The output; express The first derivative with respect to time; Indicates following vehicles The system matrix; Indicates following vehicles The input matrix; Indicates following vehicles The output matrix;

[0083] , , Represented as:

[0084] ;

[0085] In the formula, Indicates following vehicles Inertial lag.

[0086] The dynamic model of the leader vehicle is constructed as follows:

[0087] ;

[0088] In the formula, express The status of the leader's vehicle at all times; , express The location of the leader's vehicle at all times. express The speed of the leader's vehicle at all times express The output of the leader vehicle at all times; express The first derivative with respect to time; The system matrix representing the leader vehicle; The output matrix represents the leader vehicle;

[0089] , Represented as:

[0090] ;

[0091] In the formula, This represents the transpose of a matrix.

[0092] Step S2: Based on the heterogeneous vehicle queuing system, a hierarchical control framework including an observation layer and a tracking layer is designed to perform collaborative control of the heterogeneous vehicle queuing.

[0093] like Figure 2 As shown, a hierarchical control framework is designed, comprising an observation layer and a tracking layer. Specifically, the upper observation layer designs an event-triggered observer for each follower vehicle, enabling the follower to observe the leader's state and generate the desired tracking trajectory. The lower tracking layer designs a local tracking controller for each follower vehicle, ensuring their tracking capabilities against their own observers, ultimately achieving coordinated and stable operation of the vehicle platoon. This framework decouples communication from control: vehicles communicate only at the event-triggered moments in the upper layer, while the lower layer handles the vehicle tracking performance.

[0094] Step S3: Based on the directed switching communication topology between vehicles, the observation layer of the hierarchical control framework introduces an event-triggered mechanism, designs an event-triggered observer, and estimates the leader state.

[0095] like Figure 3 As shown, for a jointly connected directed topology, the designed event-triggered observer is as follows:

[0096] ;

[0097] In the formula, express The first derivative with respect to time; express Follow the vehicle at all times Observations on the status of the leader's vehicle; express Follow the vehicle at all times Its neighbor's follower vehicle The communication connection status between them, if time ,but ,otherwise ,and ; Indicates following vehicles The The event is triggered at the time. Indicates following vehicles The The event is triggered at the time. Design parameters for the observer; Let be the desired spacing vector. , Indicates the expected distance between adjacent vehicles; Indicates following vehicles The observer state estimate at the moment the event is triggered; Indicates following vehicles The neighbor's vehicle followed The observer state estimates at the event trigger moment are denoted as Estimator I and Estimator II, respectively, and are collectively referred to as the state estimators. They are the core of the designed distributed event-triggered observer and satisfy the following equation:

[0098] ;

[0099] In the formula, Indicates following vehicles At any moment The most recent trigger time, index For the triggering time in the following vehicle The sequence number in the trigger sequence;

[0100] The event triggering mechanism is determined by the triggering function. Follow the vehicle at all times Trigger function for:

[0101] ;

[0102] In the formula, Represents the norm, The observer state estimation error for the following vehicle; , , For positive numbers, the trigger time is determined by... Definitely, only when the trigger condition is met. The vehicle will only be triggered when the conditions are met.

[0103] In a jointly connected directed topology, vehicle-to-vehicle communication occurs at both the triggering and topology switching times, but only at the triggering time. Follower vehicles Only the observations of the leader's vehicle It performs sampling and sends its own state information and trigger time to the outgoing neighbors. When switching topologies, it only sends the most recent sampling information and trigger time to the new outgoing neighbors without affecting the original outgoing neighbors.

[0104] Step S4: In the tracking layer of the hierarchical control framework, based on the observed state of the leader and the self-state of the followers, multiple local tracking controllers are designed to track the leader's state.

[0105] Design a local tracking controller, specifically as follows:

[0106] ;

[0107] In the formula, for Follow the vehicle at all times Local tracking controller, For follower vehicles The state feedback gain matrix; For follower vehicles The observer state feedforward gain matrix; The expansion vector of the expected spacing. .

[0108] Step S5: Analyze the stability of the heterogeneous vehicle platoon system, verify the observation capability of the observer and the tracking capability of the controller, and perform collaborative control of the heterogeneous vehicle platoon.

[0109] Verify the observation capabilities of the event-triggered observer, specifically:

[0110] Define observation error , Then we have:

[0111] ;

[0112] In the formula, express The first derivative with respect to time; express Input items for the current time; express The system matrix at any given time; , , Indicates the Kronecker product. and These correspond to 2D and N-dimensional identity matrices, respectively.

[0113] When the parameters in the triggering function, event triggering mechanism, and event triggering observer meet the conditions, the observation error converges to 0. The parameter selection is as follows: , , ,in , , , satisfy The analysis process is as follows:

[0114] Constructing auxiliary variables , Represented as:

[0115] ;

[0116] make We can obtain the following formula:

[0117] ;

[0118] Transform it into observation error Differential equation:

[0119] ;

[0120] in , .

[0121] From the above formula, we get ,in For the equation The defined state transition matrix describes From the initial moment up to the current moment Changes, express from arrive The state transition matrix, From arrive At some point, because , The following inequalities must be satisfied:

[0122] ;

[0123] but

[0124] ;

[0125] According to the triggering mechanism, Sometimes, , combined and The definition is obtained.

[0126] ;

[0127] From both sides of the above equation arrive Summing, we get

[0128] ;

[0129] The last inequality is... get.

[0130] because and It can be known that Therefore, according to the above formula, the following inequalities hold:

[0131] ;

[0132] From the above equation and the inequalities in the lemma: , have to:

[0133] ;

[0134] Note ,get .

[0135] Substituting the inequality obtained above into the previously calculated equation regarding... The inequality yields:

[0136] ;

[0137] in All are positive numbers, and because ,get ,make From the above equation, we obtain the following inequalities:

[0138] ;

[0139] make ,according to The inequality yields:

[0140] ;

[0141] Will Substitute into the above formula and combine Finally obtained

[0142] ;

[0143] in Therefore, from this last inequality, we can see that as... Approaching infinity The exponent converges to 0.

[0144] Next, by providing a positive minimum event interval for each vehicle, we verify that the Zeno phenomenon does not exist. The integrated expression yields the following inequalities:

[0145] ;

[0146] The upper derivative of Dini for:

[0147] ;

[0148] in express Regarding time The first derivative, Regardless of the following vehicles Whether or not information is received from its incoming neighbor, the above formula always holds true, and At the trigger time It needs to be reset to 0. Consider this. And using the comparison lemma, we obtain The upper bound is:

[0149] ;

[0150] As can be seen from the triggering mechanism, only when the triggering condition is met, i.e. Follower vehicles Only then will it be triggered. Therefore, Considered from arrive The evolution. Combining the triggering mechanism and the above formula, the next latest trigger moment. Depend on:

[0151] ;

[0152] get.

[0153] Therefore, based on the above formula, the estimated minimum event interval is:

[0154] ;

[0155] Furthermore, although switching topologies can cause information transmission, the minimum dwell time for each subgraph is limited. Therefore, the Zeno phenomenon of the event-triggered mechanism is excluded at both the event triggering time and the topology switching time.

[0156] Finally, the tracking capability of the local tracking controller is verified to ensure the achievement of the cooperative control objective.

[0157] Assuming for the following vehicle There exists a full-rank matrix. This makes the following system of linear equations hold true:

[0158] ;

[0159] For event-triggered mechanisms, distributed event-triggered observers, and local tracking controllers designed under a jointly connected directed topology, if the following is chosen: Make It's Herwitz's, choose satisfy This allows for the achievement of coordinated vehicle platoon control objectives.

[0160] definition ,in ,get The expression is:

[0161] ;

[0162] in Due to the matrix It is by Herwitz, and get The exponential convergence to This indicates that the designed event-triggered control protocol can achieve the goal of coordinated vehicle platoon control.

[0163] Starting from the traditional vehicle queuing control model, this invention fully considers practical factors such as communication switching topology, event-triggered communication, and vehicle heterogeneity, and proposes a distributed hierarchical event-triggered collaborative control method. This method can save communication resources while ensuring the stability and safety of queuing operation, and has significant theoretical value and application prospects.

[0164] The following section uses MATLAB simulation software to numerically simulate a set of heterogeneous vehicle queue systems based on an event-triggered mechanism under a directed topology, based on the heterogeneous vehicle queue control method of the present invention, to further verify the effectiveness of the heterogeneous vehicle queue control method based on an event-triggered mechanism under a directed topology.

[0165] Suppose the vehicle convoy consists of one leader vehicle and four follower vehicles, and their initial states are chosen as follows:

[0166] ;

[0167] The speed curve of the leader's vehicle is given by the following formula:

[0168] ;

[0169] All vehicles are traveling in a straight line, and the vehicle spacing offset is... Considering the actual driving conditions of the vehicles, for following vehicles... The following constraints apply: the speed must meet the following requirements. The acceleration satisfies Inertial time delay of each vehicle and control gain matrix , The selection is shown in Table 1.

[0170] Table 1 Control Parameter Selection

[0171]

[0172] Joint connected directed topology such as Figure 4 As shown, Representing different topology scenarios, the dwell time for each topology. The simulation results are as follows: Figure 5 , Figure 6 , Figure 7 As shown. Figure 5 As shown, after approximately 25 seconds, the positional error, velocity error, and acceleration error between the follower and leader vehicles approached zero, indicating that the local tracking controller possessed tracking capability. Simultaneously, by Figure 5 The graph showing the relationship between position and time indicates that all vehicles in the convoy maintained the expected safe distance, and no rear-end collisions occurred during the journey. Furthermore, as shown... Figure 6As shown, under a jointly connected directed topology, the observation errors tend to 0 after a period of time, indicating that the tracking ability of the event-triggered observer for the leader vehicle can also be guaranteed. Figure 7 As shown, the event trigger times of follower vehicles 1 to 4 are displayed, indicating that the system does not exhibit the Zeno phenomenon.

[0173] The above description is a detailed description of the preferred embodiments of the present invention. However, the embodiments are not intended to limit the scope of the patent application of the present invention. All equivalent changes or modifications made under the technical spirit disclosed in the present invention should fall within the patent scope covered by the present invention.

Claims

1. A heterogeneous vehicle queue control method based on an event-triggered mechanism in a directed topology, characterized in that, Includes the following steps: Construct a heterogeneous vehicle platooning system to describe the collaborative control problem of a heterogeneous vehicle platoon consisting of leader vehicles and follower vehicles. Based on a heterogeneous vehicle queuing system, a hierarchical control framework including an observation layer and a tracking layer is designed to perform collaborative control of the heterogeneous vehicle queuing. Based on the directed switching communication topology between vehicles, the observation layer of the hierarchical control framework introduces an event-triggered mechanism, designs an event-triggered observer, and estimates the leader state. In the tracking layer of the hierarchical control framework, multiple local tracking controllers are designed based on the observed state of the leader and the self-state of the followers to track the leader's state. The stability of the heterogeneous vehicle platooning system is analyzed to verify the observation capability of the observer and the tracking capability of the controller, and to implement coordinated control of the heterogeneous vehicle platooning.

2. The heterogeneous vehicle queue control method based on event triggering mechanism under directed topology according to claim 1, characterized in that, Constructing a heterogeneous vehicle queuing system includes: The leader vehicle is labeled 0, and the follower vehicles are labeled 1 to N. Communication between the N follower vehicles is represented by a directed graph. express, For a set of nodes; It is an edge set; Indicates following vehicles Can receive follower vehicles Information; Define Enhanced Graph , It is a set of nodes that includes the leader vehicle and all follower vehicles. This represents an edge set, which includes the communication between the leader vehicle and the follower vehicles, as well as the communication between the follower vehicles. and Characterizing the communication topology between vehicles, the switching topology is modeled as , for The switching topology signal at any given time.

3. The heterogeneous vehicle queue control method based on event triggering mechanism under directed topology according to claim 2, characterized in that, Constructing a heterogeneous vehicle queuing system includes: The dynamic model of the following vehicle is constructed as follows: ； In the formula, express Follow the vehicle at all times state, , express Follow the vehicle at all times Location, express Follow the vehicle at all times speed, express Follow the vehicle at all times The acceleration; express Follow the vehicle at all times Control input; express Follow the vehicle at all times The output; express The first derivative with respect to time; Indicates following vehicles The system matrix; Indicates following vehicles The input matrix; Indicates following vehicles The output matrix; , , Represented as: ； In the formula, Indicates following vehicles Inertial lag.

4. The heterogeneous vehicle queue control method based on event triggering mechanism under directed topology according to claim 3, characterized in that, Constructing a heterogeneous vehicle queuing system includes: The dynamic model of the leader vehicle is constructed as follows: ； In the formula, express The status of the leader's vehicle at all times; , express The location of the leader's vehicle at all times. express The speed of the leader's vehicle at all times express The output of the leader vehicle at all times; express The first derivative with respect to time; The system matrix representing the leader vehicle; The output matrix represents the leader vehicle; , Represented as: ； In the formula, This represents the transpose of a matrix.

5. The heterogeneous vehicle queue control method based on event triggering mechanism under directed topology according to claim 4, characterized in that, The design includes a hierarchical control framework comprising an observation layer and a tracking layer, specifically: The upper observation layer designs an event-triggered observer for each follower vehicle, enabling the follower vehicle to observe the leader's state and generate the desired tracking trajectory; The lower tracking layer designs a local tracking controller for each follower vehicle to ensure that each follower can track the trajectory generated by its own observer, ultimately achieving the coordinated and stable operation of the heterogeneous vehicle platoon. The hierarchical control framework decouples communication from control: vehicles communicate only when an event is triggered at the upper level, while the lower level controller is responsible for ensuring the vehicle's tracking performance.

6. The heterogeneous vehicle queue control method based on event triggering mechanism under directed topology according to claim 5, characterized in that, Design an event-triggered observer, specifically as follows: ； In the formula, express The first derivative with respect to time; express Follow the vehicle at all times Observations on the status of the leader's vehicle; express Follow the vehicle at all times Its neighbor's follower vehicle The communication connection status between them, if time ,but ,otherwise ,and ; Indicates following vehicles The The event is triggered at the time. Indicates following vehicles The The event is triggered at the time. Design parameters for the observer; Let be the desired spacing vector. , Indicates the expected distance between adjacent vehicles; Indicates following vehicles The observer state estimate at the moment the event is triggered; Indicates following vehicles The neighbor's vehicle followed The observer state estimate at the moment the event is triggered satisfies the following equation: ； In the formula, Indicates following vehicles At any moment The most recent trigger time, index For the triggering time in the following vehicle The sequence number in the trigger sequence.

7. The heterogeneous vehicle queue control method based on event triggering mechanism under directed topology according to claim 6, characterized in that, The event triggering mechanism is determined by the triggering function. Follow the vehicle at all times Trigger function for: ； In the formula, Represents the norm, For follower vehicles The observer state estimation error; , , For positive numbers, the trigger time is determined by... Definitely, inf represents the infmum, which is only determined when the condition is triggered. The vehicle will only be triggered when the conditions are met; In a jointly connected directed topology, vehicle-to-vehicle communication occurs at both the triggering and topology switching times, but only at the triggering time. Follower vehicles Only the observations of the leader's vehicle It performs sampling and sends its own state information and trigger time to the outgoing neighbors. When switching topologies, it only sends the most recent sampling information and trigger time to the new outgoing neighbors without affecting the original outgoing neighbors.

8. The heterogeneous vehicle queue control method based on event triggering mechanism in directed topology according to claim 7, characterized in that, Design a local tracking controller, specifically as follows: ； In the formula, for Follow the vehicle at all times Local tracking controller, For follower vehicles The state feedback gain matrix; For follower vehicles The observer state feedforward gain matrix; The expansion vector of the expected spacing. .

9. The heterogeneous vehicle queue control method based on event triggering mechanism under directed topology according to claim 8, characterized in that, Verify the observation capabilities of the event-triggered observer, specifically: Define observation error , Then we have: ； In the formula, express The first derivative with respect to time; express Input items for the current time; express The system matrix at any given time; When the parameters in the triggering function, event triggering mechanism, and event triggering observer meet the conditions, the observation error converges to 0.

10. The heterogeneous vehicle queue control method based on event triggering mechanism under directed topology according to claim 9, characterized in that, Verify the tracking capability of the local tracking controller, specifically as follows: Assuming for the following vehicle There exists a full-rank matrix. This makes the following system of linear equations hold true: ； For event-triggered mechanisms, event-triggered observers, and local tracking controllers in a jointly connected directed topology, if the state feedback gain matrix is ​​chosen... Make It's Hurwitz's method, choosing the observer state feedforward gain matrix. satisfy This enables the achievement of the goal of coordinated control of vehicle platoons; Define tracking error , ,get Regarding time The first derivative is: ； In the formula, for The first derivative with respect to time; The tracking error diagonal matrix; The observation error diagonal matrix; due to the tracking error diagonal matrix It's Hurwitz's, therefore the tracking error The convergence to 0 enables collaborative control of heterogeneous vehicle queues.

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