多类时延下混合车辆队列建模与协同控制

doi:10.19562/j.chinasae.qcgc.2022.09.007

Abstract

Abstract:

The modeling and cooperative control method of mixed vehicle platoon consisting of both human-driven vehicle （HDV） and connected and automated vehicle （CAV） under multi-delay condition is studies in this paper. Firstly， a generalized model for mixed vehicle platoon system is constructed to characterize the number and spatial distribution of CAVs， with the time delay of driver’s response introduced into the model. Then， with consideration of V2V communication time delay and sensor measurement time delay， a state feedback controller is designed， the characteristic equation of the closed-loop system is derived， and the sufficient conditions for the closed-loop stability of the system are determined according to the Routh Hurwitz criterion to guide the parameter design of the controller. Finally， numerical simulation is conducted to verify the effectiveness of the controller design， quantitatively exhibiting the role of CAV in attenuating traffic fluctuation， with the effects of various time delays on traffic flow fluctuation analyzed.

Key words: CAV, HDV, mixed traffic, vehicle platoon, cooperative control, communication time delay, driver response time delay

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.

Figures/Tables 15

References 33

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Modeling and Cooperative Control of Mixed Vehicle Platoon Under Multi-time Delay

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