汽车工程 ›› 2022, Vol. 44 ›› Issue (9): 1359-1371.doi: 10.19562/j.chinasae.qcgc.2022.09.007
所属专题: 智能网联汽车技术专题-规划&控制2022年
胡满江1,2,卜令坤1,秦洪懋1,2(),周岩3,边有钢1,2,孙宁1,郑讯佳4
收稿日期:
2021-12-28
修回日期:
2022-01-26
出版日期:
2022-09-25
发布日期:
2022-09-21
通讯作者:
秦洪懋
E-mail:qinhongmao@vip.sina.com
基金资助:
Manjiang Hu1,2,Lingkun Bu1,Hongmao Qin1,2(),Yan Zhou3,Yougang Bian1,2,Ning Sun1,Xunjia Zheng4
Received:
2021-12-28
Revised:
2022-01-26
Online:
2022-09-25
Published:
2022-09-21
Contact:
Hongmao Qin
E-mail:qinhongmao@vip.sina.com
摘要:
本文研究了多类时延下同时具有人类驾驶车辆(HDV)和网联自动驾驶车辆(CAV)的混合车辆队列建模与协同控制方法。首先构建了一般形式的混合车辆队列系统模型,对CAV的数量与空间分布进行表征,并将驾驶员反应时延引入模型;接着,考虑V2V通信时延和传感器量测时延,设计了状态反馈控制器;推导了闭环系统特征方程,并根据Routh-Hurwitz判据确定了系统闭环稳定性的充分条件,以指导控制器参数设计;最后,通过数值仿真验证了控制器设计的有效性,定量展示了CAV对衰减交通波动的作用,并分析了各类时延对交通流波动的影响。
胡满江,卜令坤,秦洪懋,周岩,边有钢,孙宁,郑讯佳. 多类时延下混合车辆队列建模与协同控制[J]. 汽车工程, 2022, 44(9): 1359-1371.
Manjiang Hu,Lingkun Bu,Hongmao Qin,Yan Zhou,Yougang Bian,Ning Sun,Xunjia Zheng. Modeling and Cooperative Control of Mixed Vehicle Platoon Under Multi-time Delay[J]. Automotive Engineering, 2022, 44(9): 1359-1371.
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