考虑并线的网联车辆巡航控制研究*

doi:10.19562/j.chinasae.qcgc.2019.09.007

汽车工程 ›› 2019, Vol. 41 ›› Issue (9): 1028-1035.doi: 10.19562/j.chinasae.qcgc.2019.09.007

考虑并线的网联车辆巡航控制研究^*

张涛, 邹渊, 张旭东, 刘献韬, 王文伟

1.北京理工大学机械与车辆学院,北京 100081;
2.北京电动车辆协同创新中心,北京 100081

收稿日期:2018-08-21 修回日期:2018-11-23 出版日期:2019-09-25 发布日期:2019-10-12
通讯作者: 邹渊,教授,博士,E-mail:zouyuanbit@vip163.com
基金资助:
新能源汽车国家重大专项(2017YFB0103801)和国家自然科学基金(51775039)资助

A Research on Connected Cruise Control with Consideration of Merging

Zhang Tao, Zou Yuan, Zhang Xudong, Liu Xiantao & Wang Wenwei

1.School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081;
2.Collaborative Innovation Center for Electric Vehicles, Beijing 100081

Received:2018-08-21 Revised:2018-11-23 Online:2019-09-25 Published:2019-10-12

摘要/Abstract

摘要： 针对网联车辆行驶过程中容易出现旁车道的人类驾驶员并线进入车队的问题,本文中提出了一种考虑旁车并线行为的跟车策略,并设计了分布式应用的分层控制系统。首先分析了所提出的跟车策略的合理性,并构建了考虑延时与误差反馈的联网巡航控制(CCC)系统;接着在频域范围内分析了不同控制增益参数对系统稳定性的影响,仿真结果验证了多车队列行驶稳定性;最后搭建测试平台进行实车试验。结果表明:旁车并线时,CCC控制系统可快速实现车辆的制动并保证队列的稳定性,所提出的跟车策略可提升车辆的乘车舒适性与交通系统的安全性。

关键词: 网联巡航控制, 并线行为, 队列行驶, 稳定性

Abstract: In view of the problem that human-drivers on adjacent lane are prone to enter the fleet during the process of connected vehicle driving, a follow-up strategy with consideration of the merging maneuver of vehicle on adjacent lane is proposed and a hierarchical control system for distributed application is designed in this paper. Firstly, the rationality of the follow-up strategy proposed is analyzed, and a connected cruise control (CCC) system considering delay and error feedback is constructed. Then the influences of different control gain parameters on system stability in frequency domain are analyzed, and the simulation results verify the stability of multi-vehicle platooning driving. Finally, a test platform is constructed and a real vehicle test is conducted with a result showing that the CCC control system designed can quickly fulfill vehicle braking and ensure the stability of platooning driving during the merging of vehicle on adjacent lane. The follow-up strategy proposed can enhance the ride comfort of vehicle and the safety of traffic system.

Key words: connected cruise control, merging maneuver, vehicle platooning, stability

张涛, 邹渊, 张旭东, 刘献韬, 王文伟. 考虑并线的网联车辆巡航控制研究^*[J]. 汽车工程, 2019, 41(9): 1028-1035.

Zhang Tao, Zou Yuan, Zhang Xudong, Liu Xiantao & Wang Wenwei. A Research on Connected Cruise Control with Consideration of Merging[J]. Automotive Engineering, 2019, 41(9): 1028-1035.

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考虑并线的网联车辆巡航控制研究^*

A Research on Connected Cruise Control with Consideration of Merging

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