This paper proposes a multi-vehicle cooperation method based on the virtual platoon concept for unsignalized intersections. The method consists of two levels, i.e. constraint-tree-driven modeling (CTM) strategy for the supervision level and distributed robust control (DRC) method for the execution level. After projecting the approaching vehicles to a virtual lane, the CTM strategy determines the conflict-free passing sequence and driving mode and forms multiple local virtual platoons (LVP). A constraint tree is then constructed, in which constraints with a unified equality formation are utilized to describe the geometry topology of all vehicles, regardless of leader or member. Then, a class of robust control is proposed to render each vehicle to follow its prescribed constraint. The control is designed based on third-order nonlinear vehicle dynamics. The uniform boundedness, uniform ultimate boundedness performance of the entire system and string stability of LVP have been proven by leveraging the Lyapunov stability theory. The simulation results confirm that the proposed method functions well under time-varying traffic volume. Furthermore, the proposed method significantly improves the fuel economy, driving comfort and safety under low traffic volume compared with baseline methods.

本文提出了一种基于虚拟队列概念的无信号交叉口多车协作方法。该方法包括两个层次，即监督级的约束树驱动建模（CTM）策略和执行级的分布式鲁棒控制（DRC）方法。将接近的车辆投影到虚拟车道后，CTM 策略确定无冲突的通过顺序和驾驶模式，并形成多个本地虚拟排（LVP）。然后构建约束树，其中使用具有统一等式形式的约束来描述所有车辆的几何拓扑，而不管其领导者或成员。然后，提出了一类鲁棒控制来使每辆车遵循其规定的约束。该控制是基于三阶非线性车辆动力学设计的。利用李雅普诺夫稳定性理论证明了整个系统的一致有界性、一致极限有界性和LVP的弦稳定性。仿真结果证实了所提出的方法在时变交通量下运行良好。此外，与基线方法相比，所提出的方法在低交通量下显着提高了燃油经济性、驾驶舒适性和安全性。