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通信中断条件下基于组合间距策略的车辆队列控制

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针对由于复杂多变的环境因素造成的无线通信系统通信中断的智能网联车辆队列控制问题,提出一种基于组合间距策略的分布式纵向车辆队列控制器.首先,通过嵌入固定间距策略、固定时距策略和可变时距策略进行组合来应对由于领导车或跟随车通信中断的特殊情况,并考虑队列通信中断后建立新的通信拓扑结构.然后,基于三阶非线性动力学车辆模型,考虑相邻车辆间的加速度误差以及组合间距策略开发一种新型车辆队列控制器.利用Lyapunov-Krasovskii定理推导出车辆队列的渐近稳定性条件.同时,通过使用无穷范数方法验证串稳定性.最后,通过Matlab数值仿真和Simulink&PreScan联合仿真验证所提出控制器的有效性和稳定性.仿真结果表明,基于组合间距策略的车辆队列能够应对不同场景满足不同的间距需求.
Vehicle platoon control based on combined spacing policy in communication interrupted conditions
This article addresses the problem of connected and automated vehicles platoon control under communication interrupted caused by complex and variable environmental factors.A distributed longitudinal vehicle platoon controller based on a combined spacing policy is proposed.Firstly,a combination of the fixed constant spacing policy,the constant time headway policy and the variable time headway policy is embedded to cope with the special cases of communication interruption caused by the leader or follower vehicle,and a new communication topology is established after platoon communication interruption.Then,a novel vehicle platoon controller is developed based on a third-order nonlinear dynamic vehicle model,considering the acceleration error between adjacent vehicles and the combined spacing policy.The asymptotic stability condition of the vehicle platoon is derived using the Lyapunov-Krasovskii theorem.At the same time,serial stability is proven using the infinity norm method.Finally,the effectiveness and stability of the controller are verified through numerical simulations using Matlab and joint simulations using Simulink & PreScan.The simulation results show that the vehicle platoon based on the combined spacing policy can meet different spacing requirements for different scenarios.

connected and automated vehiclescommunication interruptedcombined spacing policyvehicles platoonstabilityPreScan

李永福、曾柯月、黄龙旺、黄鑫

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重庆邮电大学自动化学院,重庆 400065

重庆邮电大学智能空地协同控制重庆市高校重点实验室,重庆 400065

智能网联车辆 通信中断 组合间距策略 车辆队列 稳定性 PreScan

国家自然科学基金项目国家自然科学基金项目重庆市创新发展联合基金项目重庆市研究生科研创新项目

62273067U1964202CSTB2022NSCQ-LZX0025CYS23464

2024

控制与决策
东北大学

控制与决策

CSTPCD北大核心
影响因子:1.227
ISSN:1001-0920
年,卷(期):2024.39(8)