考虑时延的异质协作车队事件触发控制研究
Research on Event-Triggered Control of Heterogeneous Cooperative Vehicle Platoons Considering Time Delay
唐传茵 1夏冀沣 1章明理 1吴龙杰1
作者信息
- 1. 东北大学 机械工程与自动化学院,辽宁 沈阳 110819
- 折叠
摘要
针对目前研究较少考虑车辆混行造成的异质问题与时延问题,本文提出了一种具有时延的异质协作式自动驾驶车队事件触发控制方法.首先,建立了考虑混行的异质车辆时延模型;其次,基于PID(proportional-integral-derivative)控制与模型预测控制(MPC),设计了不同模式下的事件触发控制器;然后,在城市和紧急情况下,对所提出的控制器进行了仿真分析;最后,基于Jetson Nano模型车进行了实车实验.仿真与实验结果表明,所提出的事件触发控制方法能够在不同情况下更好地权衡控制精度与计算速度间的矛盾.在带有通信时延的紧急情况下,仍能够保持较低的误差.
Abstract
To address the problem of heterogeneity and time delay caused by mixed traffic,a heterogeneous cooperative event-triggered control method with time delay for autonomous driving platoons was proposed.Firstly,a heterogeneous vehicle delay model taking into account mixed traffic was established.Secondly,the event-triggered controller in different modes was designed based on PID(proportional-integral-derivative)control and model predictive control(MPC).Thirdly,under urban and emergency conditions,the proposed controller was simulated and analyzed.Finally,a real-car experiment was conducted based on the Jetson Nano model car.The simulation and experiment results illustrated that the proposed event-triggered control method strikes a better balance between control accuracy and calculation speed under different circumstances.In the emergency situations with communication delay,it can still maintain lower errors.
关键词
自动驾驶/异质协作/事件触发/时延/车队Key words
autonomous driving/heterogeneous cooperation/event-triggered/time delay/vehicle platoon引用本文复制引用
基金项目
中央高校基本科研业务费专项(N2103028)
出版年
2024
NETL
NSTL
万方数据