摘要
智能网联汽车多车编队行驶可有效缩短跟车间距和提升交通系统通行效率,但多车编队控制须解决异构编队控制器的普适性问题,且能够在执行器响应延迟和通讯延迟情况下保证车辆编队的弦稳定性。本文提出一种面向异构智能网联汽车编队的延迟补偿控制方法,在无须获取他车系统动力学参数及控制输入前提下,利用他车加速度信息即可实现车辆编队纵向跟踪控制;此外,提出一种基于Smith预测器的延迟补偿控制架构,分别消除和降低了执行器响应延迟和通讯延迟对车辆编队弦稳定性的影响。典型工况仿真结果表明,相较常见车辆编队控制方法,本文提出的异构车辆编队延迟补偿控制器的跟车误差降低了80.7%,有效减小了最小车头时距和跟车间距。
Multi-vehicle platooning of connected and automated vehicles(CAVs)can effectively reduce vehicle-following distance and improve traffic efficiency of the transportation system.However,platoon control needs to have the ability to accommodate heterogeneous platoons and to ensure the string stability against actuator and communication delays.This paper proposes a delay compensation control method for heterogeneous CAV platooning,which can realize the longitudinal tracking control of the CAV platoon utilizing the acceleration information of other vehicles without obtaining system dynamics characteristics and control input of other vehicles.Furthermore,a Smith-predictor-based delay compensation control scheme is proposed to negate the impact of actuator and communication delay on the string stability.The simulation results of typical working conditions show that the proposed delay compensation controller for heterogeneous CAV platoons can reduce the tracking error by 80.7%and effectively minimize the headway and vehicle-following distance,compared with the common vehicle platooning control mthods.
作者
刘济铮
王震坡
孙逢春
张雷
Liu Jizheng;Wang Zhenpo;Sun Fengchun;&Zhang Lei(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081;National Engineering Research Center for Electric Vehicles,Beijing 100081)
出处
《汽车工程》
EI
CSCD
北大核心
2023年第9期1573-1582,共10页
Automotive Engineering
基金
北京市科技新星计划(Z201100006820007)
国家留学基金委项目(202206030092)资助。
关键词
智能网联汽车
异构车辆编队
延迟补偿
弦稳定性
connected and automated vehicles
heterogeneous vehicle platoon
delay compensation
string stability
作者简介
通信作者:张雷,研究员,博士,E-mail:lei_zhang@bit.edu.cn。
