云控场景下车辆队列的模型预测控制方法

doi:10.19562/j.chinasae.qcgc.2022.02.004

Abstract

Abstract:

In view of that when the edge cloud is used for centralized vehicle platoon control， the time delay in communications will degrade the performance indicators of platoon control， even result in the instability of platoon， proceeding from the multi-objective optimization of platoon efficacy with consideration of the time delay in communications and the nonlinear longitudinal dynamics characteristics of vehicle， an edge-cloud based centralized model predictive control algorithm for platoon is proposed and a time delay compensation method is designed in this paper. The asymptotic stability of the control algorithm is analyzed first. Then a simulation test is conducted on different time delays to verify the string stability of control algorithm and the effectiveness of random time delay compensation method in certain range of time delay. Finally， the effects of time delay on platoon stability and fuel consumption are analyzed. The results show that the platoon stability and fuel economy will worsen with the time delay increases and when the time delay reaches 250 ms with a fluctuation of 20% the platoon will be on the verse of instability.

Key words: vehicle platoon, cloud control, time delay, centralized network control, model predictive control

Fei Zhao,Jian Wang,Tianlei Zhang,Li Wang,Deyi Li. Model Predictive Control Method for Vehicle Platoon Under Cloud Control Scenes[J].Automotive Engineering, 2022, 44(2): 179-189.

Figures/Tables 22

References 18

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时延/ms	车距误差/m	速度误差/（m·s^-1）	油耗总量/mL
50	0.146	0.027	418.1
100	0.252	0.028	421.6
150	0.334	0.028	426.2
200	0.462	0.030	433.2
250			456.6

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Model Predictive Control Method for Vehicle Platoon Under Cloud Control Scenes

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