异质车联网环境下耦合映射跟驰模型的协同控制问题

Collaborative control of coupled map car-following model under heterogeneous connected vehicle environment

本文考虑驾驶员的滞后反应时间随时间变化的特性,提出了更符合实际的耦合映射跟驰模型,利用李雅普诺夫函数理论,推导了车队行驶满足稳定性的充分条件.在此基础上,考虑异质车联网环境下同时存在人工驾驶车辆和自动驾驶车辆根据车流的运行特性,将人工驾驶车辆抽象为自动驾驶车辆传感器失效的情况,设计了状态反馈速度控制器,使得闭环系统在部分传感器失效情况下仍然满足渐近稳定,即可缓解交通拥挤问题,利用MATLAB的LMIs工具箱求解得到该控制器的增益参数,最后通过数值算例将控制器的性能与传统的Konishi反馈控制器和无控制器情形相比,并分析了人工车辆的比例和位置对控制器效果的影响,验证了本文方法的有效性.

In this paper,we propose a more realistic coupled map car following model considering the driver’s characteristics of the delay changing over time.Using the theory of Lyapunov function,the sufficient conditions for system stability of the model is presented.Thereafter,we design a new state feedback controller taking into account vehicles sensors failures,which drives the closed-loop system to asymptotic stability in the provision of partial vehicles sensor failure,such that the congestion problem can be effectively suppressed.The gain parameters of the controller are attained by MATLAB’s LMIs toolbox.In the numerical example,the performance of designed controller is compared to those of the conventional Konishi controller and without any control.The impact of percentage and location of vehicles on the performance of the controller is also analyzed,which verifies the effectiveness of our method.