不可靠通信的云控场景下网联车辆控制器的设计

doi:10.19562/j.chinasae.qcgc.2021.04.010

Abstract

Abstract:

In view of that unreliable network communication brings hidden trouble to V2V control， the design method of connected vehicle controller considering the factors of time delay and packet drop is studied in this paper. Firstly， based on Markovian jump linear system， a model for network control system with stochastic packet drop and time delay events is set up， the stable conditions of the system are proposed in the form of linear matrix inequality， and the design method of the quantized controller with stochastic packet drop is given. On this basis， through the augmentation of system equation matrix， the design method of jump controller under discrete delay is proposed. Finally， a simulation on two typical cloud control scenes of longitudinal and lateral controls of connected vehicle is conducted and the results indicate that under the delay or packet drop with known probability distribution， the quantized controller of connected vehicle control system designed with the method proposed can ensure the stability and safety of system in the situation of unreliable communication.

Key words: connected vehicle control, Markovian jump linear system, cloud control, packet drop, time delay

Qing Xu,Ji’an Pan,Keqiang Li,Jianqiang Wang,Xiangbin Wu. Design of Connected Vehicle Controller Under Cloud Control Scenes with Unreliable Communication[J].Automotive Engineering, 2021, 43(4): 527-536.

Figures/Tables 14

$l f / m$	$l r / m$	$m / k g$	$I z / (k g ? m 2)$	$v / (m · s - 1)$	$c f / (N ? r a d - 1)$	$c r / (N · r a d - 1)$
1.14	1.4	1 500	2 420	10	44 000	47 000

丢包率范围	时延范围	量化密度
$[0,0.05, …, 0.8]$	$[0,0.05, …, 0.25]$	$[0.2,0.25, …, 1]$

比例系数 $K p$	积分系数 $K i$	微分系数 $K d$
0.8	0	0.1

$τ h / s$	$d 0 / m$	$K L$	$T L$
3	15	0.99	0.35

丢包率范围	时延范围	量化密度
$[0,0.05, …, 0.95]$	$[0,0.05, …, 0.25]$	$[1, …, 0.05]$

$Q$ 矩阵	$R$ 矩阵
$0.5 00 010 00 0.1$	1

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Design of Connected Vehicle Controller Under Cloud Control Scenes with Unreliable Communication

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