传感器量程和行驶约束车辆队列模型预测控制

Model Predictive Control of Vehicle Platoons Subject to Constraints on Limited Range of Sensors and Driving

针对车辆队列车载传感器量程受限和行驶约束控制问题,提出一种车辆队列模型预测控制策略.考虑纵向队列模型的相对速度和相对加速度不可量测情况,应用状态观测器估计车辆队列运动状态;综合车辆队列跟踪性能和乘坐舒适性能,利用队列控制的经典PD策略构造参数化队列切换控制器,其中参数矩阵通过求解有限时域最优控制问题计算得到.在此基础上,采用终端约束和公共李亚普诺夫函数,建立参数化队列预测控制器的递推可行性和车辆队列系统的巡航稳定性与队列稳定性.最后利用加减速典型场景仿真验证本文方法的有效性.

This paper proposes a model predictive control strategy for solving the control problem affecting vehicle platoons： the limited reading range of on-board sensors and driving constraints. Considering that the relative velocity and acceleration of the longitudinal platoon model are not measurable,a state observer method is adopted to estimate the state of motion of the vehicle platoon. Moreover,the classical PD control strategy is applied to parameterize a set of platoon switching controllers,whose parameter matrices are calculated by solving the finite-horizon optimal control problem that affects the tracking and ride comfort performance. Based on this parameterized control strategy,the terminal constraints and the common Lyapunov functions are employed to establish the recursive feasibility of the parameterized platoon predictive controller,the cruise stability,and the string stability of the overall vehicle platoon system. Finally,the effectiveness of the proposed method is assessed by simulating the two typical scenarios of acceleration and deceleration.