摘要
为了实现具有协同式自适应巡航控制的匀质和异质队列的队列稳定性,基于最优控制和饱和控制理论提出队列协同巡航控制算法,将车辆队列视为一种动态级联系统,而队列稳定性,即抑制状态量沿队列的波动,是这类系统设计的基本要求。针对系统的队列性能的要求,采用恒定车间时距策略建立考虑队列稳定性、执行器饱和的车间纵向运动学模型,根据不同的前车采用不同的权值矩阵来计算最优控制输入;针对最优控制鲁棒性和约束性较差的问题,引入饱和控制,在Riccati方程框架下,设计低增益状态反馈控制律,证明具有饱和非线性系统的局部镇定,实现系统的闭环稳定性和队列稳定性。最终通过Matlab/Simulink进行匀质和异质队列的仿真,验证算法在满足队列稳定性目标下协调多性能指标的可行性和有效性。
In order to realize the string stability of homogeneous and heterogeneous platoons with cooperative adaptive cruise control,a cooperative adaptive cruise control algorithm of vehicular platoon is proposed based on optimal control and saturation control theory.The vehicular platoon is regarded as a dynamic cascade system,and string stability,i.e.,the fluctuation of the state quantity along the vehicular platoon,is considered an essential requirement for the design of those systems.According to the platoon performance requirements of the system,a mutually longitudinal kinematics model with the input saturation considering string stability and actuator saturation,is established by adopting the constant time headway strategy.The weight matrix to different targets are used to calculate the optimal control inputs.Aiming at the problem of poor robustness and constraint of optimal control,by introducing a saturation control,under the framework of Riccati equation,the low gain state feedback control law is designed to prove the local stabilization of the saturated nonlinear system,and the closed-loop stability and string stability of the system are realized.Finally,the simulation of homogeneous and heterogeneous platoons is carried out by Matlab/Simulink,which verifies the feasibility and effectiveness of the algorithm in coordinating multi-performance indicators under the string stability criterion.
作者
何友国
田肖肖
袁朝春
HE Youguo;TIAN Xiaoxiao;YUAN Chaochun(School of Automobile and Traffic Engineering,Jiangsu University,Zhenjiang 212013,China;Automotive Engineer Research Institute,Jiangsu University,Zhenjiang 212013,China)
出处
《重庆理工大学学报（自然科学）》
CAS
北大核心
2020年第9期47-55,共9页
Journal of Chongqing University of Technology：Natural Science
基金
江苏省“六大人才高峰”高层次人才项目(2015-XNYQC-004)
江苏省道路载运工具新技术应用重点实验室开放基金项目(BM20082061506)
江苏大学高级人才科研启动基金项目(15JDG125)。
关键词
协同式自适应巡航控制
车辆队列
队列稳定性
饱和控制
cooperative adaptive cruise control
vehicular platoon
string stability
saturation control
