高速公路卡车队列行驶非线性滚动优化控制

Nonlinear moving horizon control of truck platooning on highways

提出高速公路卡车队列行驶非线性滚动优化控制策略;采用双层控制器结构,上层控制器根据当前的道路及车辆状态信息决策出卡车队列最优燃油经济性速度曲线,下层控制器采用滚动优化方法对最优速度曲线进行跟踪,并保证卡车队列行驶时车间距离的安全性及有效性。为验证高速公路卡车队列行驶非线性滚动优化控制方法的有效性,选取多组不同路况及初始车速进行Trucksim-Simulink联合仿真,结果表明:本文方法在不同道路坡度及车速情况下均可有效跟踪期望最优速度,提高了跟随车辆的燃油经济性。

In this paper,nonlinear moving horizon control strategy is presented for truck platooning on highways.The bi-level control structure is adopted.The outer controller computes the optimized velocity,which satisfies the fuel economy,according to the current road and vehicle dynamics information.The inner controller follows the optimized velocity using moving horizon control approach and ensures the safety distance between trucks in the platooning.To verify the effectiveness of the proposed nonlinear moving horizon control approach,Trucksim-Simulink jointing simulations are carried out under various road conditions at different initial velocities.Results demonstrate that the optimized velocity can be followed well under different road conditions and velocities,and the proposed control approach can effectively improve fuel economy of following trucks.