网联车辆协同编队控制系统研究

Research on Networked-vehicle Cooperative Platoon Control System

为改善车辆编队行驶的稳定性、安全性和舒适性,本文中基于车车通信构建了多车协同编队控制系统。该系统采用了基于非线性车距控制的驾驶行为决策模型,并充分考虑了实际通信延时对系统的影响。针对车辆编队控制的稳定性,分析了各控制器参数的约束边界及其变化对系统稳定性的综合影响。最后搭建Matlab/Simulink模型,并进行仿真,以验证头车持续扰动、紧急制动和非零初始状态3种典型工况下多车协同控制的有效性与合理性。结果表明,本文设计的车辆编队控制系统可实现车辆编队的稳定性控制,保障行驶安全性,同时避免车辆频繁加速、制动的现象,在一定程度上提高了行驶舒适性。

In order to improve the stability,safety and ride comfort of the platoon,a multi-vehicle cooperative platoon control system is constructed based on inter-vehicle communication.The system adopts the driving behavior decision model based on nonlinear inter-vehicle distance control with sufficient consideration of the effects of real communication time delay on the system.Aiming at the stability of the platoon,the parameter constraint boundary of each controller and the influence of their changes on system stability are analyzed.Finally,Matlab/Simulink model is built and a simulation is conducted to verify the effectiveness and reasonability of multi-vehicle cooperative control under three typical conditions,including the continuous disturbance of leading vehicle,emergency braking and non-zero initial state.The results show that the platoon control system constructed can achieve the stability control of the platoon,ensure driving safety,with the phenomena of frequent acceleration and braking avoided,enhancing driving comfort to a certain extent.