部分联网环境下交叉口混合动力汽车分层控制

Hierarchical Control of Hybrid Electric Vehicles at Intersections under Partially Connected Environment

为了实现部分车辆联网环境下混合动力汽车安全经济地通过信号灯交叉口,设计了一种分层控制器,主要由目标车速控制器与能耗控制器组成。在目标车速控制器中采用模型预测控制理论和吉布斯跟车理论得到网联车的最优目标车速和非网联车的目标车速;能耗控制器根据得到的目标车速,采用变等效因子的等效燃油消耗最小策略,进行发动机和电机的最佳功率分配。对不同车流量工况进行硬件在环仿真,车辆均可安全行驶。仿真结果表明,网联率60%是经济性提升的拐点,后续继续增加网联率经济性提升效果不显著,大流量工况下经济性改善效果更优。

To realize the safe and economic passing of the signalized intersection of the hybrid vehicle under the partially connected environment, a hierarchical controller was designed in the paper, which was mainly composed of the target vehicle speed controller and the energy consumption controller. In the target vehicle speed controller, the model predictive control theory and the Gipps following theory were used to obtain the optimal target vehicle speed of the connected vehicle and the target speed of non-connected vehicle;According to the target vehicle speed, the energy consumption controller used the equivalent fuel consumption minimum strategy with variable equivalent factor to carry out the optimal power distribution of the engine and motor. Through the hardware in the loop simulation of different traffic flow conditions, the vehicle can drive safely. The simulation results show that 60% of the connection rate is the turning point of the economic improvement, and the subsequent increase of the connection rate is not significant, and the economic benefit effect is better under the condition of large traffic volume.