基于事件触发机制的双编队车辆换道决策模型

Research on lane switching strategy of vehicles between two platoons based on event triggering mechanism

针对由联网自动化车辆(connected and automated vehicle,CAV)组成的双编队车辆换道问题进行了研究,提出了一种基于事件触发的分布式换道决策模型。该模型针对双编队系统设计了一种编队内和编队间的一致性控制协议;同时,为了减少CAV车辆控制器的频繁更新,设计了一种基于组合测量方式的事件触发器,并给出Lyapunov函数证明了算法的稳定性且不存在Zeno行为。仿真结果表明,所设计的控制协议能够使双编队系统收敛一致,有效降低CAV控制器的更新频率,减少系统能耗。通过模型对比,在证明所提决策模型有效性的同时,系统能够更快地收敛。

In order to solve the problem of lane changing in the dual platoon composed of CAV,this model proposed a dis-tributed cooperative lane changing strategy based on event triggering.In this strategy,this paper designed a second-order consensus control protocol for the dual platoon system.At the same time,in order to reduce the frequent update of CAV’s controller,it also designed an event trigger based on combining measurement.It used the designed of Lyapunov function and the analysis of Zeno behavior to prove the stability and feasibility of the algorithm.The simulation results show that the designed control protocol can make the dual platoon system consensus,effectively reduce the update frequency of CAV controller and reduce the system energy consumption.By comparison,it proves the effectiveness of the model,and the convergence of this system is faster.