通信中断下考虑行驶状态时空收敛的混合编队稳定性控制算法

A hybrid platoon stability control algorithm considering spatial-temporal convergence of driving states under communication interruption

针对通信中断下由智能网联车辆(Connected and Automated Vehicles,CAV)与人工驾驶车辆(Manually Driven Vehicles,MDV)所组成的混合编队的稳定性控制问题,考虑基于前车-领航车通信拓扑(Predecessor-Leader Following topology,PLF)和协同自适应巡航控制(Cooperative Adaptive Cruise Control,CACC)的混合编队,构建通信正常和通信中断状态下的车辆控制器.基于Routh-Hurwitz稳定性判据和频域分析方法设计稳定条件求解算法,计算控制器和MDV跟驰模型的稳定性条件,并提出针对两种控制器的平滑切换策略.案例分析表明:车队能够稳定安全行驶,各车速度标准差变化率均低于1.8%,平均加速度变化量和其平均值均低于0.016 m/s^(2),说明所提出的稳定性控制算法具有良好的有效性,可实现车辆及编队行驶状态的时空收敛;针对加速场景和减速场景,所提出的控制器切换策略能够分别减小车辆加速度波动幅度达37.1%和59.9%,控制器切换过程中的车辆状态稳定性得到显著提升.

This study addresses stability control issue for hybrid platoons of Connected and Automated Vehicles(CAV) and Manually Driven Vehicles(MDV) during communication disruptions.It considers a hybrid platoon based on the Predecessor-Leader Following topology(PLF) and Cooperative Adaptive Cruise Control(CACC) and constructs vehicle controllers for conditions of both normal and disrupted communication.Utilizing the Routh-Hurwitz stability criterion and frequency domain analysis methods,a stability condition solution algorithm is designed to calculate the stability conditions of the controllers and MDV car-following model.Additionally,a smooth switching strategy between the two controllers is proposed.Case analysis demonstrates that the platoon can drive stably and safely,with the standard deviation change rate of each vehicle's speed being less than 1.8%,and the average acceleration change and its average value both below 0.016m/s~2.This indicates that the proposed stability control algorithm is highly effective,achieving spatial-temporal convergence of the driving states of individual vehicles and the platoon.For both acceleration and deceleration scenarios,the proposed controller switching strategy can reduce vehicle acceleration fluctuations by 37.1% and 59.9% respectively,significantly enhancing vehicle state stability during controller switching.