首页|基于组合间距策略的自适应车辆队列纵向控制

基于组合间距策略的自适应车辆队列纵向控制

扫码查看
针对车辆队列被外部车辆换道超车的场景,外部车辆与队列中的车辆存在异质性,不同车辆适用的间距策略也存在差异性.此外,不同的车辆队列间距策略在道路适应性、车辆队列系统稳定性和串稳定性等方面均存在优势和缺陷.基于此提出一种基于组合间距策略的智能网联车辆队列控制方法,以优化队列车辆的间距.现有的协同/分布式队列控制方法大多基于精确的车辆动力学模型,这要求获得完整的车辆动力学先验知识,并进行非线性-线性模型的转换.然而,在实践中获取精确的先验知识信息往往具有挑战性,且在车辆间进行信息交互的过程中,不可避免地会产生通信时延.因此,在考虑网络环境通信时延的基础上,提出了一种基于自适应积分滑模车辆队列控制器的分布式后向控制方案,该方案可以在线识别和估计未知参数,从而解决三阶车辆节点动力学模型中参数不确定性影响系统稳定性的问题.在设计的积分滑模面中,采用饱和函数替代传统滑模面的符号函数,进一步解决了控制结果中容易出现抖振的问题.然后,利用Lyapunov-Krasovskii定理和无穷范数进行了组合间距策略和间距策略切换下车辆队列系统的内部稳定性和串稳定性分析.最后,通过与现有控制算法进行仿真比较分析,验证了所提出的控制策略和算法的有效性.
Adaptive Longitudinal Control of Vehicle Platoon Based on Combination Spacing Policy
When a vehicle platoon is overtaken by an external vehicle,heterogeneity exists between the external vehicle and vehicles in the platoon,and different spacing policies will be applicable to the vehicles.Different vehicle platoon spacing policies have advantages and disadvantages in terms of road adaptability,vehicle platoon system stability,and string stability.Therefore,a platoon control method for intelligent networked vehicles based on a combined spacing policy is proposed to optimize the spacing of vehicles in a platoon.Most existing cooperative/distributed platoon control methods are based on precise vehicle dynamics models that require comprehensive prior knowledge of the vehicle dynamics and nonlinear-to-linear model transformations.However,obtaining accurate prior knowledge remains a challenge.Communication delays inevitably occur during information exchange between vehicles.Therefore,this study investigated a network environment with communication delay and developed a distributed backward control scheme based on an adaptive integral sliding mode vehicle platoon controller.This scheme identifies and estimates unknown parameters online and solves the problem of the parameter uncertainty affecting system stability in a third-order vehicle node dynamics model.A saturation function was used for the designed integral sliding surface to replace the symbolic function of the traditional sliding surface.This also solved the problem of jitter,which is prone to occur in the control results.Subsequently,the Lyapunov-Krasovskii theorem and infinity norm were used to analyze the internal stability and string stability of a vehicle platoon system under the combination of the spacing policy and spacing policy switching.Finally,the effectiveness of the proposed control policy and algorithm was verified by comparison with existing control algorithms.

traffic engineeringadaptive integral sliding mode controlcombined spacing policyconnected and automated vehiclespacing policy switchingplatoon controlcommunication delay

李永福、王兴全、黄龙旺、黄鑫、胡晓松

展开 >

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

重庆大学机械与运载工程学院,重庆 400044

交通工程 自适应积分滑模控制 组合间距策略 智能网联汽车 间距策略切换 车辆队列控制 通信延时

国家自然科学基金国家自然科学基金重庆市自然科学基金重庆市自然科学基金重庆市教委科技项目重庆市教委科技项目

62273067U1964202CSTB2022NSCQ-LZX0025CSTB2023NSCQ-MSX1042KJZD-M202300602KJQN202300654

2024

中国公路学报
中国公路学会

中国公路学报

CSTPCD北大核心
影响因子:1.607
ISSN:1001-7372
年,卷(期):2024.37(2)
  • 39