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In order to ensure the safety, comfort and fuel economy of hybrid electric vehicle platoon, a hierarchical control strategy based on intelligent transportation systems is proposed. The upper controller used vehicle-vehicle(V2V) communication technology and used Nonlinear Distributed Model Predictive Control (NDMPC) to optimize the speed control and calculate the optimal speed. The lower controller obtained the upper vehicle speed, used the Deep Deterministic Policy Gradient (DDPG) reinforcement learning algorithm for energy management, and embedded the engine best economic curve and battery characteristic curve as expert experience to improve the convergence and stability of the algorithm. The results show that under this strategy, the maximum relative error of vehicle distance is 4.83%, and the average acceleration of the platoon is 0.331 m/s2. Compared with the Deep Q-Network (DQN) algorithm used in the lower layer, the fuel consumption is reduced by 14.25% on average, and the maximum is reduced by 15.30%. Compared with the DP algorithm, the average increase is 8.31%. It not only ensures the safety and comfort, but also effectively improves the economy of the platoon.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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