不可靠网络环境下的网联汽车队列稳定性仿真分析

Simulation analysis on stability of network of connected vehicle platooning under unreliable network environment

基于车联网技术与多模式传感器融合的车辆跟踪方法可实现网联汽车队列行驶,具体表现为多辆智能网联汽车以相对较高的平均速度以及较短的跟驰间距安全行驶。因车联网无线通信极易受多种因素影响,造成通信延迟等不可靠网络环境的产生,进而造成网联汽车队列行驶的稳定性较差。针对上述问题,以车联网通信延迟对CACC控制策略稳定性影响为研究对象,在分析CACC控制策略的基础上搭建了一种基于Plexe的仿真平台,提出了一系列用于分析车辆队列状态的测试评价指标,包括速度、速度误差、间距误差以及实时车头时距等,构建了一种“正弦振荡”典型应用场景,基于构建的仿真平台与测试场景对网联汽车队列稳定性进行了系统的测试分析。

Through the use of vehicle tracking method based on multi-mode sensor fusion and Internet of vehicles technology,it can realize the automatic queue driving of connected vehicles.The specific performance is that multiple connected vehicles can drive safely with relatively high average speed and short car following distance.The wireless communication of Internet of vehicles is easily affected by many factors,such as communication delay,which results in unreliable network environment,and then leads to poor stability of intelligent&connected vehicle platooning.In order to analyze the above problems systematically,this paper constructs a simulation platform based on plexex after analyzing the CACC control strategy.A series of test and evaluation indexes are proposed to analyze the status of intelligent&connected vehicle platooning,including speed,speed error,spacing error and real-time headway.A typical application scenario of"sinusoidal oscillation"is constructed.The stability of intelligent&connected vehicle platooning is tested and analyzed based on the simulation platform and test scenario.