基于信息一致性的自主车辆变车距队列控制

Consensus based platoon for autonomous vehicles with time varying intervehicle distance

针对目前自主车辆队列控制中采用的间距策略存在间距调节灵活性不足、道路利用率欠佳等问题,提出一种基于信息一致性的自主车辆变车距队列控制方法.首先,结合车速与车辆制动时间的动态关系,设计一种变时间间隔策略.在此基础上,基于信息一致性理论,提出一种车间距可随车速自适应变化的自主车辆队列控制算法.仿真结果表明,所提算法不仅可以实现自主车辆的变车距队列控制,且车间距离的调节具有较好的灵活性,尤其在低速行驶时,可有效减少道路占用量,提高道路利用率.

The existing spacing policies in autonomous vehicle platoon control have the disadvantages of poor flexibility and insufficient road utilization, therefore, an information consensus based platoon control algorithm with varying intervehicle space is proposed. Firstly, a new inter-vehicle spacing policy, namely time varying headway（TVH） strategy, is designed according to the dynamic relationship between vehicle speed and braking time. Then, a vehicle platoon control algorithm based on the information consensus theory is proposed to achieve the adaptive variation of inter-vehicle space with vehicle speed. The simulation results show that the control algorithm can not only realize the platoon for autonomous vehicles with time varying inter-vehicle distance, but also has better flexibility in vehicle platoon control. Particularly, in low speed, the algorithm can greatly reduce road occupancy as well as improving road utilization rate.