基于快速随机模型预测控制的网联混合车队生态驾驶策略研究

doi:10.19562/j.chinasae.qcgc.2024.09.006

Abstract

Abstract:

To address the problem of speed trajectory deviation of connected vehicles （CVs） caused by human driver error， a real-time eco-driving strategy for connected mixed platoons considering human driver error is proposed in this paper. Firstly， real vehicle tests are conducted to collect human driver error data of different drivers to establish the human driver error model based on Markov chain so as to predict the human driver error for a period of time in the future. Then， with the optimization objective of minimizing the fuel consumption of the entire platoon， the platoon speed trajectory optimization problem is formulated as an optimal control problem. Fast stochastic model predictive control （FSMPC） is employed to calculate the optimal speed trajectories of the connected vehicle in the mixed platoon. Both the simulation and intelligent and connected micro-car test results indicate that， compared to the traditional eco-driving strategy based on fast model predictive control （FMPC）， the proposed eco-driving strategy can effectively reduce the speed trajectory deviation and fuel consumption of the whole platoon as well as meet the real-time requirements.

Key words: connected vehicle, human driver error, fast stochastic model predictive control, mixed platoon

Lijun Qian,Jian Chen,Feng Zhao,Xinyu Chen,Liang Xuan. Research on Fast Stochastic Model Predictive Control-Based Eco-Driving Strategy for Connected Mixed Platoons[J].Automotive Engineering, 2024, 46(9): 1587-1599.

Figures/Tables 20

References 18

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参数	数值
采样时间/s	0.5
预测时域/s	3
路径数量	400
权重系数ω₁	20
权重系数ω₂	5 000
权重系数ω₃	500

参数	数值
整备质量/kg	1 680
迎风面积/m²	2.25
空气阻力系数	0.3
滚动阻力系数	0.01
最高车速/（m·s^-1）	13.89
最低车速/（m·s^-1）	0
最大加速度/（m·s^-2）	3
最大减速度/（m·s^-2）	-6

车辆序号	FMPC	FSMPC
车辆1	5.82	5.43
车辆2	6.45	6.10
车辆3	7.04	6.76
车辆4	7.56	7.33
平均值	6.72	6.40

参数	数值
道路总长度/m	19
信号灯周期/s	70
信号灯红灯时间/s	45
信号灯绿灯时间/s	25
车辆最高车速/（m·s^-1）	0.26
车辆最低车速/（m·s^-1）	0
车辆最大加速度/（m·s^-2）	0.06
车辆最大减速度/（m·s^-2）	-0.12

车辆序号	FMPC	FSMPC
车辆1	2.372 8	2.369 4
车辆2	2.384 1	2.380 7
车辆3	2.455 6	2.391 2
平均值	2.404 2	2.380 4

Research on Fast Stochastic Model Predictive Control-Based Eco-Driving Strategy for Connected Mixed Platoons

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