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Commercial platoon cruise control is an effective method to improve transportation efficiency, but existing research is mostly based on homogeneous platoon control with one single vehicle following optimization objective, while using a simple architecture to cope with communication time delay, which is not universally applicable in practical scenarios. Therefore, based on heterogeneous electric commercial vehicle fleets, in this paper a distributed model predictive control strategy is proposed to achieve multiobjective control that takes into account of requirements of vehicle following, economy, and comfort. Delay buffers and compensators are designed for delay prediction models, effectively solving the problems of excessive tracking distance error caused by nonideal communication conditions. Matlab/Simulink simulation shows that the proposed control algorithm can achieve multiobjective optimization control of heterogeneous commercial vehicle fleets. Compared with traditional model predictive control (MPC), it significantly reduces the tracking distance error, energy consumption, and jerk, effectively improving performance of the platoon in terms of tracking, economy and comfort and significantly reducing the adverse effect of time delay.
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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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