面向实际操纵工况的汽车队列自适应协调控制策略

Adaptive coordinated control strategy of vehicular platoon orienting practical driving condition

考虑实际操纵工况特别是低附着路面条件对汽车队列动力学稳定性的影响,提出针对异质汽车队列的自适应协调控制策略.建立包含车轮旋转动力学的队列分布式控制器设计模型,将车速-轮速误差引入队列的跟驰控制决策以协调车辆动力学与队列动力学,将路面附着引入间距策略以适应路面工况的变化.首先,以保证节点车辆的动力学稳定性和队列的跟驰控制性能为目标,基于滑模控制方法设计队列自适应协调控制策略,并基于Lyapunov方法证明队列跟驰的间距误差以及车速-轮速误差一致最终有界,导出兼顾车辆动力学的队列稳定性条件.然后,基于4辆车组成的异质汽车队列,在高、低两种路面附着工况下对控制方案进行仿真评价.仿真结果表明,所提出的自适应协调控制策略通过对节点车辆动力学和队列动力学的协调控制,能够保证汽车队列系统在大范围操纵工况特别是低附着路面工况下的车辆动力学稳定性、队列稳定性和交通流稳定性.

Focusing on the influence of actual driving conditions especially the effect of low adhesion road conditions on the dynamic stability of vehicular platoons,an adaptive coordinated control strategy for heterogeneous vehicular platoon is proposed.First,the control model for the individual vehicles involving wheel rotational dynamics is established.The vehicle-wheel speed error is introduced in the platoon following control decision to coordinate the individual vehicle dynamics and platoon dynamics,and the road adhesion coefficient is involved in the spacing strategy design to adapt to the variation of road condition.A coordinated control strategy is designed based on the sliding mode control method aiming to guarantee the individual vehicle dynamics stability and the string stability.It has been proved based on the Lyapunov analysis method that both the spacing error and vehicle-wheel speed error within the vehicular platoon can be uniformly bounded ultimately,and the string stability condition considering individual vehicle dynamics is derived.Finally,the proposed control scheme is evaluated by simulations based on a four-vehicle heterogeneous platoon in high and low adhesion road condition respectively.The results show that the proposed adaptive spacing strategy and coordinated control scheme can ensure the stability of individual vehicles,platoon,and traffic flow in a broad range of operation conditions especially in low adhesion condition by coordinating the individual vehicle dynamics and the platoon dynamics.