考虑时滞的协作式自动驾驶车队的纵向控制方法

Longitudinal control method of cooperative autopilot vehicle platooning considering time delays

为提高协作式的自动驾驶车队的纵向控制器的鲁棒性,提出了一种考虑车辆执行器时延和车车通信时延因素的纵向控制方法。该方法综合本车与相邻前车以及车队领头车的运动状态(包括车辆位置、车间距偏差、速度、加速度)信息,建立了一个车队编队结构模型。为保持队列稳定性,根据Lyapunov稳定性理论,推导出时延和PID(比例积分微分)控制器参数的边界条件。对一个10辆车组成的车队进行仿真。结果表明:当被控车响应相邻前车和车队领头车的运动状态变化时,车辆间距误差最大为0.8 m。在领头车进行紧急制动工况(减速度达到0.8 g)时,也能避免追尾事故发生。

A longitudinal control method was proposed to improve of robustness for an autopilot cooperative vehicle platooning longitudinal controller considering the time delay of vehicle actuator and the time delay of inter-vehicle communication.A platoon formation model was established with integrating the information including the vehicle position,the spacing deviation between vehicles,the vehicle speeds,and the vehicle accelerations between self-vehicle and the adjacent preceding-vehicle and between self-vehicle and the leadervehicle of the platoon.Boundary conditions of the time delays and the parameters of the PID(proportional,integral,differential)controller were derived based on the Lyapunov stability theory to keep the platoon stability.Simulation analyses were done for a platoon of ten vehicles.The results show that the maximum error is 0.8 m of the deviation of the spaces between vehicles when the controlled vehicle responds with the motion state changing of the adjacent front vehicle and the platoon leader vehicle.Therefore,the rear-end collisions can be avoided when happening a braking deceleration of 0.8 g at the emergency conditions of the platoon leader vehicle.