联合通信资源分配的网联车协同自适应巡航时滞反馈控制

Joint communication resource allocation and cooperative adaptive cruise delay-feedback control of connected vehicles

考虑网联车辆队列在路段通信资源受限下的协同自适应巡航控制(CACC)问题,提出一种联合通信资源分配的网联车辆协同自适应巡航时滞反馈控制方法.首先,在头车-前车跟随的通信拓扑结构下,通过网联车辆队列中各车辆间的通信链路数量、该路段可使用的通信资源和当前时刻车辆间的间距误差建立二分图,根据车辆间的间距误差来调度有限的通信资源,将通信资源合理分配给有较大间距误差的跟随车辆;其次,利用非对称PD控制协议和网联车辆队列时滞纵向模型,应用线性矩阵不等式技术计算网联车CACC控制器,进一步得到车辆队列弦稳定性的充分条件;最后,通过Matlab/CarSim联合仿真验证该方法的有效性.

This paper studies the problem of cooperative adaptive cruise control(CACC)of a network connected vehicle queue under the restriction of road communication resources,a time-delay feedback control method of network connected vehicle cooperative adaptive cruise with joint communication resource allocation is proposed.Firstly,under the head vehicle front vehicle following communication topology,a bipartite graph is established through the number of communication links of each vehicle in the vehicle queue,the available communication resources of this section and the spacing error between vehicles at the current time.The limited communication resources are scheduled according to the spacing error between vehicles,and the communication resources are reasonably allocated to the following vehicles with large spacing error.Then,using the asymmetric PD control protocol and the longitudinal model of fleet delay,the linear matrix inequality technology is used to calculate the CACC controller of network connected vehicles,and the sufficient conditions for the string stability of the vehicle queue are further obtained.Finally,the effectiveness of this method is verified by the Matlab/CarSim joint simulation.