一种协作式车队控制的新方法

A new method for cooperative platoon control

针对协作式车队机动过程中存在燃油或制动延时的情况,建立车辆与车队动力学模型,综合考虑本车与相邻前车间的局部信息及领头车的全局信息,提出协作车队纵向控制策略.从避免Slinky-Effects效应出发,得到车队队列稳定条件,根据Lyapunov-Razumikhin方法证明车队中单车稳定性,并将两者相结合共同确定燃油或制动延时界限.在此基础上,分析车间距稳态误差及车队抖动与碰撞的避免条件.最后通过数字仿真检验上述设计,仿真结果对比表明了所提出控制策略具有较好的控制效果.

Vehicle and platoon dynamics models are considered for a cooperative platoon of longitudinal control with fuel or break time delay during a maneuvering process. Based on the models, a control policy is proposed based on local information between adjacent vehicles and global information of the leader vehicle. In order to avoid Slinky-Effects, the stable string conditions of a platoon are derived. Then, the individual vehicle stability is proved by using the LyapunovRazumikhin method, and the bound for fuel or brake time delay is calculated. On this basis, steady-state errors and the condition for preventing oscillations and collisions are analyzed. Finally, digital simulations are used to validate the above design. The comparative simulation results show that the proposed control strategy has preferable control effect.