针对智能车队纵向跟随控制中车辆之间信息传递存在的延迟问题,提出了一种通信延迟条件下运动状态估计与模型预测控制相结合的MSE-MPC(Motion State Estimation-Model Pre-dictive Control)智能车辆队列纵向跟随控制方法.利用运动状态估计算法,对通信延迟情况下的前车状态信息进行估计,并将所预测的前车状态信息用于更新模型预测控制器的输入,决策出跟随车行驶所需的期望加速度,在保持合理的车间距情况下,实现车辆的加减速,使队列系统达到稳定.通过Simulink/Carsim联合仿真平台,在固定延迟和随机延迟两种不同延迟条件下对控制算法进行仿真验证,并与无延迟时MSE-MPC及有延迟时MPC算法的控制效果进行对比.仿真结果表明,MSE-MPC融合算法有效,对于延迟时长的变化不敏感,能够较好地抵抗通信延迟的影响,而且整体的控制效果较好,能够保证队列的稳定运行.
Longitudinal control of intelligent fleet considering communication delay
This paper proposes motion state estimation-model predictive control(MSE-MPC)for in-telligent vehicle queue control to address the delay problem in the transfer of information between vehicles during the longitudinal following control of an intelligent fleet.The proposed method com-bines an MSE algorithm with MPC,considering communication delays.The MSE algorithm esti-mates the state information of the preceding vehicle during communication delays.The model predic-tive controller then utilizes the estimated motion state value of the preceding vehicle to determine the desired acceleration of the following vehicle.Thus,a steady queuing system can be established by maintaining an appropriate following distance by accelerating and decelerating the vehicle.The con-trol method is simulated and verified using the Simulink/Carsim joint simulation platform under two different delay conditions:fixed and random delays.Subsequently,the performance of the control al-gorithm is compared with that of the control effect of MSE-MPC without delay and MPC with delay.The simulation results indicate that the MSE-MPC algorithm is effective and insensitive to changes in the communication delay when the delay duration increases.The proposed algorithm can better re-sist the effect of communication delays,and the control effect is relatively good,ensuring stable driv-ing of the queue.
intelligent transportationcommunication delaymodel predictive controlmotion state estimationvehicle queue
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