随着交通事故和道路拥塞问题的凸显，智能交通成为热点。针对带宽受限导致自主车队系统在有限时间内控制性能下降与失稳问题，项目开展带宽受限自主车队系统Markov建模、Markov跳变概率不确定对系统性能的影响机制和有限时间跟随、转弯、急刹车控制等三方面进行研究。采用离散有限模态Markov链刻画随机受限带宽，建立带宽受限自主车队系统Markov模型；结合Markov系统理论及鲁棒控制，探索概率不确定机理，揭示影响自主车队系统性能的本质；采用聚集理论、Markov过程和调度技术等分析车队协同安全控制性能（稳定性，收敛速度，弦稳定性）。考虑到急刹车时受强时间约束和强空间约束限制，采用非光滑一致性方法优化车队收敛速度。研究结果将为车队系统建模提供新思路，提出安全性能好、速度快和自主性高等协同控制新方案，为实现智能交通提供一套容易应用于辅助驾驶的智能控制新技术。具有重大的理论意义和迫切的现实需求。

With the highlights of road traffic accidents and road congestion problem,intelligent transportation become a hot spot. Aiming at the scientific problem of the control performance degradation or even unstability in finite time induced by the limited bandwidth in autonomic convoy system,the Markov model, the selection mechanism for Markovian uncertain transition probabilities, and the finite time the following control,turning and emergency brake control of autonomous vehicle platoon are focused in this project.The discrete, bounded Markov chain is applied to depict the dynamic and random characteristics of the limited bandwidth,and the limited bandwidth autonomous team control system Markov model is setted up. The selection mechanism for Markovian uncertain transition probabilities is studied by combining with Markovian jump systems theory and robust uncertainty control theory, and the internal relationship between the Markovian uncertain transition probabilities and the closed-loop autonomous vehicle platoon performance is revealed.Safety performances of autonomous vehicle platoon (such as stability, convergence and bidirectional string stability) are analyzed using flocking theory, stochastic Markov process and data scheduling technology. Considering the strong time strong constraint and the limitation of space constraints for the braking control, fast convergence of vehicle platoon under communication constrains is further investigated through non-smooth consensus approach.Research results will provide new ideas for modeling the autonomous vehicle platoon and will put forward higher coordination control new scheme with better, faster and better safety performance, which provides an new intelligent control technology for intelligence transportation systems.So studying cooperative platoon control theory and developing the corresponding technology have the great theory value and urgently practical requirements.