考虑电子节气门开度的车辆队列纵向协同控制

Longitudinal cooperative control of vehicle platoon consideringelectronic throttle opening angle

针对车辆动力学模型,在车用无线通信技术(vehicle to everything,V2X)条件下设计了一种新的车辆队列纵向协同控制器,进行了理论分析与实验验证。基于三阶车辆模型,考虑前车跟随车通信拓扑,设计了一种考虑电子节气门开度的车辆队列纵向协同控制器,分析了系统稳定性和串稳定性以及电子节气门开度对稳定性的影响;针对网联车辆队列控制,开发了PreScan和Matlab/Simulink的联合仿真平台和车联网设备的实验平台,开展了仿真和实验验证。研究结果表明,所提控制器能够实现车辆队列控制的目标,但在现场实验中,车辆在加速度、速度和车辆间距的变化上不如仿真实验中光滑且严格收敛,在实验安全及误差范围内仍呈现出一致性的趋势,验证了所提控制器的有效性。

Aiming at the vehicle dynamic model,a new longitudinal cooperative controller of vehicle platoon was designed under the V2X communication,and the theoretical analysis and experimental verification were carried out.First,a new longitudinal cooperative controller of vehicle platoon was designed considering the influence of electronic throttle opening angle based on third-order vehicle model and predecessor following communication topology.Then,for the proposed controller,the system stability and string stability were analyzed.The influence of electronic throttle opening on stability was analyzed.Finally,for the connected vehicle platoon control,a co-simulation platform based on PreScan and Matlab/Simulink and an experimental platform based on V2X communication devices were developed,and corresponding simulation and experimental verification were carried out.Results show that the proposed controller can achieve the goal of vehicle platoon control,but in field experiments,the changes of acceleration,velocity and inter-vehicle gap are not as smooth and strictly convergent as in the simulation experiments,but still show consensus within the experimental safety and error range.The above results demonstrate the effectiveness of the proposed controller.