时滞条件下商用车队分布式MPC多目标优化控制

doi:10.19562/j.chinasae.qcgc.2025.03.004

Abstract

Abstract:

Commercial platoon cruise control is an effective method to improve transportation efficiency， but existing research is mostly based on homogeneous platoon control with one single vehicle following optimization objective， while using a simple architecture to cope with communication time delay， which is not universally applicable in practical scenarios. Therefore， based on heterogeneous electric commercial vehicle fleets， in this paper a distributed model predictive control strategy is proposed to achieve multi-objective control that takes into account of requirements of vehicle following， economy， and comfort. Delay buffers and compensators are designed for delay prediction models， effectively solving the problems of excessive tracking distance error caused by non-ideal communication conditions. Matlab/Simulink simulation shows that the proposed control algorithm can achieve multi-objective optimization control of heterogeneous commercial vehicle fleets. Compared with traditional model predictive control （MPC）， it significantly reduces the tracking distance error， energy consumption， and jerk， effectively improving performance of the platoon in terms of tracking， economy and comfort and significantly reducing the adverse effect of time delay.

Key words: heterogeneous commercial vehicle platoon, distributed model predictive control, multi-objective optimization, communication delay

Ruixin Yang,Yingfeng Cai,Yubo Lian,Long Chen,Xiaoqiang Sun. Distributed MPC Multi-objective Optimization Control for Commercial Vehicle Platoon Under Time Delay Conditions[J].Automotive Engineering, 2025, 47(3): 418-429.

Figures/Tables 10

References 29

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车辆序号	质量/kg	车身长度/mm	车轮滚动半径/m	车辆迎风面积/m²
1	4 000	5 500	0.35	2.5
2	4 500	6 000	0.40	3.0
3	5 000	6 500	0.45	3.5
4	5 500	7 000	0.50	4.0
5	6 000	7 500	0.55	4.5

参数		MPC控制器	不集成延迟补偿的DMPC控制器	集成延迟补偿的DMPC控制器
跟随性、延迟补偿效果	平均距离误差/m	0.372 5	0.153 9	0.088 3
经济性	总能耗/（kW·h）	1.42	1.28	1.07
舒适性	平均加加速度/（m·s^-3）	0.583 7	0.427 2	0.402 1

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Distributed MPC Multi-objective Optimization Control for Commercial Vehicle Platoon Under Time Delay Conditions

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