模拟自治车队行驶过程变工况速度跟踪控制

Speed Tracking Control for a Simulated Intelligent Vehicle Platoon under Variable Road Conditions

智能车路系统通过提高单车控制智能化水平以及与交通环境之间的信息交互能力,实现车辆自主驾驶以及列队控制,通过提高车速,减小自治车队行驶过程中车间距离,将公路交通流调整到最佳状态,提高路网通行能力和道路安全,从而解决日趋严重的交通问题。利用十分之一模型车、模拟道路、智能控制和无线通信网络等技术手段构建基于车路协调的自治车队行驶模拟试验系统。在自治车队行驶模拟试验系统中,单车的智能控制是基础。滑模变结构控制方法是一种简单快捷,鲁棒性好,可靠性高的控制方法。在构建智能小车模拟系统的基础上,引入加速度传感器,采用基于等效控制的模糊滑模控制算法,设计智能小车的速度跟踪控制器。该控制器能够全局稳定的跟踪给定的参考速度,从而保证智能小车不同路况的稳定行驶。仿真试验证明了控制器的有效性和稳定性,为进一步开展车路协调下自治汽车列队行驶控制提供理论和试验基础。

Autonomous driving for intelligent vehicle and platoon is achieved by improving the intelligent control level of single vehicle and the ability of information interaction between vehicle and highway in intelligent vehicle-highway system,in which traffic flow is adjusted to the best and highway capacity,road safety is improved by means of increasing speed and reducing the space between vehicles,thus the increasingly serious traffic problems are solved.The intelligent vehicle platoon driving simulation experiment system is constructed under the coordination between vehicle and highway by means of one-tenth of model cars,simulated road and the technology of intelligent control and wireless communication.Among them,intelligent control for single vehicle is the most important.Sliding mode variable structure control method is a simple and fast,robust,and most reliable control method.On the basis of the intelligent vehicle simulation system by adding acceleration sensor,the speed tracking controller is designed by fuzzy sliding mode control based on equivalent control.A given reference speed can be globally stably tracked when the intelligent vehicle drives in variable road conditions.The simulation results show the effectiveness and stability of the controller,the study on the control for a platoon of autonomous vehicles under the coordination between vehicle and highway can be promoted by theories and experiments.