多类时延下混合车辆队列建模与协同控制

Modeling and Cooperative Control of Mixed Vehicle Platoon Under Multi-time Delay

本文研究了多类时延下同时具有人类驾驶车辆(HDV)和网联自动驾驶车辆(CAV)的混合车辆队列建模与协同控制方法。首先构建了一般形式的混合车辆队列系统模型,对CAV的数量与空间分布进行表征,并将驾驶员反应时延引入模型;接着,考虑V2V通信时延和传感器量测时延,设计了状态反馈控制器;推导了闭环系统特征方程,并根据Routh-Hurwitz判据确定了系统闭环稳定性的充分条件,以指导控制器参数设计;最后,通过数值仿真验证了控制器设计的有效性,定量展示了CAV对衰减交通波动的作用,并分析了各类时延对交通流波动的影响。

The modeling and cooperative control method of mixed vehicle platoon consisting of both humandriven vehicle(HDV)and connected and automated vehicle(CAV)under multi-delay condition is studies in this paper.Firstly,a generalized model for mixed vehicle platoon system is constructed to characterize the number and spatial distribution of CAVs,with the time delay of driver’s response introduced into the model.Then,with consideration of V2V communication time delay and sensor measurement time delay,a state feedback controller is designed,the characteristic equation of the closed-loop system is derived,and the sufficient conditions for the closedloop stability of the system are determined according to the Routh Hurwitz criterion to guide the parameter design of the controller.Finally,numerical simulation is conducted to verify the effectiveness of the controller design,quantitatively exhibiting the role of CAV in attenuating traffic fluctuation,with the effects of various time delays on traffic flow fluctuation analyzed.