考虑道路几何设计的智能网联车队横纵向协同控制

Intelligent and Connected Platoon Lateral and Longitudinal Coordinated Control Considering Road Conditions

针对智能网联车队行驶过程中车辆跟驰和路径跟踪的横纵向协同控制,建立三自由度车辆动力学模型并将其作为控制系统,基于改进的智能驾驶员模型模型设计分层式纵向控制器;基于预瞄-跟随理论设计横向控制器。考虑车辆纵向、横向运动的耦合特性,以纵向速度作为横向控制器的状态变量设计横纵向协同控制策略,在CarSim/Simulink仿真平台搭建车队横纵向协同控制器。采用单移线、隧道工况验证控制器的横向、纵向控制性能;考虑道路弯道、坡度和超高等道路几何设计,设置匝道工况验证控制器横纵向协同控制性能并分析道路超高对车辆跟驰和路径跟踪精度及稳定性的影响。结果表明:控制器能实现给定工况下车辆速度与转向的跟踪控制,且具有较高的跟踪精度,良好的跟驰效果和行驶稳定性;对于弯道行驶,设置道路超高能使车辆转向平稳,速度跟随精度高且行车间距增加,有利于提高车队行驶安全性。

Aiming at the lateral and longitudinal coordinated control of car-following and path tracking during the driving process of intelligent and connected platoon,a 3-degree-of-freedom vehicle dynamic model was constructed and considered as the control system,the hierarchical longitudinal controller and lateral controller were designed base on the improved intelligent driver model(IDM)and preview-folllwer theory,respectively.Considering the coupling characteristics between the lateral and longitudinal movement of vehicle,the lateral and longitudinal coordinated control strategy was designed with the longitudinal speed as the state variable of the lateral controller,and the controller of the fleet was established on the CarSim/Simulink simulation platform.The lateral,longitudinal control performance of the controller were verified by single shift line and tunnel condition,respectively.Considering road conditions,such as turning,slopes and super-elevation,the ramp condition was used to verify the lateral and longitudinal coordinated control performance of the controller,and the influence of super-elevation on car-following,path tracking accuracy and stability was analyzed.The results show that the controller can realize the tracking control of vehicle speed and steering under given conditions,and has a high tracking accuracy,good car-following effect and driving stability.For curved driving,the setting of super-elevation can make vehicle steering stable,speed tracking accuracy is higher and driving space increases,which is beneficial to improve the driving safety of the platoon.