考虑驾驶员反应延时的自主车队最优巡航控制

Optimal cruise control of autonomous platoon with driver reaction time delay

针对传统的自主车队巡航控制方法只考虑通信延时而没有考虑驾驶员反应延时的问题,重新建立了自主车队巡航控制系统的数学模型,在建模过程中既考虑了通信延时,也考虑了驾驶员反应延时,得到了含有不同的状态延时和输入延时的非均匀自主车队巡航控制系统的状态空间数学模型;然后通过离散化,并通过定义增广状态向量,得到不含延时的离散时间状态空间模型,从而将含有延时的最优控制问题转变为不含延时的最优控制问题。在此基础上,应用最优控制理论,通过求解线性矩阵黎卡提方程,得到了最优巡航控制律。计算机仿真结果表明,本文提出的最优巡航控制律具有良好的控制性能。

Time delay is a serious problem in cruise control of human driven autonomous platoon. Traditional cruise control methods only consider the communication time delay,but do not consider the human driver reaction time delay.Cruise control of autonomous platoon with communication time delay and driver reaction time delay is investigated.Firstly,a new state space mathematical model of heterogeneous human driven autonomous platoon is established,which includes not only the communication time delay but also the human driver reaction time delay as well as different state delay and input delay. Then,by discretizing the system and defining an augmented state vector,the discrete-time state space model is obtained,and the optimal problem with time delay is transformed into the related optimal problem with no tima delay. An optimal cruise control algorithm is presented by using optimal control theory,and the optimal cruise control law is derived by solving a matrix Riccati algebraic equation. Finally,simulation results show that the proposed optimal cruise control algorithm has good control performance.