The centralized architecture in intelligent vehicle group cooperative control has the challenges of high single point failure risk, poor scalability, time-varying communication topology and heterogeneous vehicles in dynamic traffic environment. This study proposes a distributed consistency algorithm based on time-varying directed graph. By constructing a dynamic weight adjustment mechanism, the adaptive balance between communication quality and control accuracy is realized, the second-order dynamic model of heterogeneous vehicles is established and the adaptive compensation term is introduced to control the formation keeping error within 0.3m; The integration of distributed state observer and event-triggered communication mechanism significantly enhances the robustness of the system under communication interruption and sensor failure. A diamond formation simulation system including four smart cars with heterogeneous parameters was built on the platform of MATLAB/Simulink, and 15% random packet loss rate, link interruption and sensor bias faults were injected for verification. The results show that the algorithm can achieve sub-meter formation convergence within 8s, and the root mean square error is stable at 0.22m; When communication is interrupted, the error fluctuation is less than 0.15m and can be recovered quickly; The control accuracy can be restored within 5s by distributed observation compensation under sensor failure. The algorithm has low computational complexity, real-time, reliability and expansibility, and provides an effective solution for the engineering application of smart car group collaboration.
Zhang et al. (Sun,) studied this question.