智能网联车辆队列紧急工况控制策略设计

Control Strategies Design of Intelligent and Connected Vehicle Platoon Under Emergency Conditions

目前针对紧急工况的智能网联车辆队列控制研究较为欠缺,为了解决高速公路车辆队列在紧急工况下安全、稳定控制问题,本文针对队列紧急制动、他车插入队列这两种紧急工况开展控制策略研究。首先,建立控制系统分层架构,由策略层和控制层组成。其中,控制层根据策略层的输出结果激活对应的车辆纵横向控制器;针对策略层,分别设计两种紧急工况的控制策略以及不同工况间的控制切换策略。最后,基于PreScan/Simulink搭建高速公路车辆队列控制联合仿真平台,设计包含多个紧急工况的复杂验证场景,完成五车队列在该场景下的仿真验证,并探讨了通信时延对控制性能的影响。仿真结果表明:该队列控制系统能保证队列在两种紧急工况下安全、稳定行驶,并可实现不同工况的切换控制。

At present,few researches focus on control strategies of intelligent and connected vehicle platoon under emergency conditions.In order to tackle with the safety and stability control problems of vehicle platoon on the highway under emergency conditions,this article studies the control strategy under the two conditions of platoon emergency braking and merging of other vehicles.Firstly,a hierarchical structure of the control system is established,consisting of a strategy layer and a control layer.The control layer activates the vehicle’s longitudinal and lateral controllers according to the output of the strategy layer;the strategy layer is designed with control strategies for the two kinds of emergency conditions and mode-switch strategies between different conditions.Then,a joint simulation platform for highway platoon control is built with PreScan and Simulink.A complex verification scenario including multiple emergency conditions is designed and a five-vehicle platoon simulation test is carried out.Furthermore,the effect of communication delay on control performance is discussed.The simulation results show that the proposed control system can ensure safety and stability of platoon under these two emergency conditions,and can realize the switching control of different operating conditions.