网联交通环境下的车-车通信故障诊断方法

Fault diagnosis of vehicle-to-vehicle communication in networked traffic environment

以智慧交通场景中的车辆编队为应用背景,建立基于智能驾驶员模型的车辆队列控制模型,分析车-车通信中延时对队列控制稳定性的影响。提出基于车-车通信更新延迟的故障诊断方法,利用中值和均值的统计特性计算用于判断是否发生故障的决策变量,设计两层滑窗对决策变量进行平滑,实现决策变量实时、自适应计算;利用Jarque-Bera检验一段时间内接收端延迟更新统计分布的正态性,若该分布显著偏离正态分布,则认为通信质量恶化。在测试场地采集车辆行驶速度数据和车-车通信延时数据,对不同场景下车-车通信更新延迟的统计分布特性进行仿真试验,验证车-车通信中延时对智能网联汽车协同控制的影响。研究结果表明,车-车通信延时会导致协同控制过程中控制率的剧烈变化,基于更新延迟的通信故障诊断方法可以对车-车通信质量是否恶化进行有效诊断。

With vehicle platoon in intelligent transportation system as the background,this research established a vehicle platoon control model based on the intelligent driver model and analyzed the influence of delay in vehicle-to-vehicle communication on the stability of platoon control.A fault diagnosis method based on the update delay of vehicle-to-vehicle communication was proposed.The statistical characteristics of median and average were used to calculate the decision variables which were used to judge whether a fault had occurred.A two-layer sliding window was designed to smooth the decision variables and adaptively calculate the decision variable in real time.The Jarque-Bera algorithm was used to test the normality of the statistical distribution of the receiver's update delay within a period of time.If the distribution significantly deviated from the normal distribution,it was considered that the communication quality had deteriorated.Collecting vehicle speed data and vehicle-to-vehicle communication delay data at the testbed,simulations were conducted to analyze the statistical distribution characteristics of the vehicle-vehicle communication update delay in different scenarios and verify the influence on vehicle platoon control of vehicle-to-vehicle communication delay.The research results showed that the vehicle-to-vehicle communication delay caused drastic changes in the control rate during the collaborative control process.The communication fault diagnosis method based on the update delay could effectively diagnose whether the vehicle-to-vehicle communication quality had deteriorated.