考虑汽车跟驰作用的智能网联汽车通信时延控制方法

Delay Control Method of Intelligent Networked VehicleCommunication Considering Car-following Effect

在智能网联汽车跟驰过程中,由于车辆之间的距离较近,数据传输的时间延迟会更加明显,为有效解决其中存在的通信时延问题,提出一种考虑汽车跟驰作用的智能网联汽车通信时延控制方法。该方法根据跟驰汽车动力学分析结果,利用加速度函数表达车辆的持续跟驰效应,将跟踪偏差视为智能网联汽车通信时延控制目标,构建汽车跟驰模型,模型基于坐标转换法确定前导车轨迹,并设计通信时延控制函数和跟驰作用控制函数,以车辆跟驰效应为基础,通过控制通信时延、跟随车与前导车之间的距离和速度差异,控制跟随车按照控制目标跟随前导车行进,并获取跟随车轨迹,实现通信时延有效控制的智能网联汽车稳定跟驰。实验结果表明:该方法可以有效控制汽车跟驰中的通信时延,保证存在时延情况下的汽车跟驰稳定性;车队跟驰时速设置在90 km/h以内时时延控制效果最佳。

During the following process of intelligent connected vehicles,the time delay of data transmission will be more significant due to the close distance between vehicles.To effectively solve the communication delay problem,an intelligent networked vehicle communication delay control method considering the car following effect is proposed.According to the dynamic analysis results of the following vehicle,the acceleration function is used to express the continuous following effect of the vehicle.Considering tracking deviation as the communication delay control target of intelligent connected vehicles,a car following model is constructed.The model is based on the coordinate transformation method to determine the trajectory of the leading vehicle,and the communication delay control function and car following action control function are designed.Based on the car following effect,the following vehicle is controlled to follow the leading vehicle according to the control target by controlling the communication delay,distance and speed difference between the following vehicle and the leading vehicle.And the trajectory of the following vehicle is obtained to achieve stable and effective control of communication delay for intelligent connected vehicles.The experimental results show that this method can effectively control the communication delay in car following and ensure the stability of car following in the presence of delay.The best time delay control effect is achieved when the fleet follows at a speed of less than 90 km/h.