自主网联车辆时滞反馈预测巡航控制

doi:10.13229/j.cnki.jdxbgxb20190949

摘要/Abstract

摘要：

考虑车联网环境下的车辆自适应巡航控制问题，提出一种针对前车信息传输存在有界长时延的自主车辆时滞反馈预测巡航控制策略。首先建立自主网联车辆自适应巡航系统的增量控制时滞模型，再考虑车辆行驶安全性、舒适性和燃油经济性等指标，结合滚动优化原理定义时滞反馈预测巡航控制器。进一步，利用Lyapunov稳定性定理和线性矩阵不等式技术，建立保证自主车辆预测巡航控制系统闭环稳定性的时滞相关充分性条件。最后，通过与PID控制比较仿真验证本文方法的有效性。

关键词: 控制科学与工程, 自主网联车辆, 预测巡航控制, 时延, 滚动时域控制, 稳定性

Abstract:

This paper considers the adaptive cruise control problem of vehicles in the vehicular ad hoc network and proposes a delay-feedback predictive cruise control scheme of autonomous and connected vehicles for the case of bounded long time-delay in the information transmission of front vehicles. Firstly， the incremental control and time delay model is used to formulate the adaptive cruise systems of autonomous and connected vehicles. Then the delay-feedback predictive cruise controller is computed by the receding horizon optimization principle in terms of the driving safety， ride comfort and economy performance of the vehicle. Finally， by the Lyapunov’s stability theorem and linear matrix inequality technique， the delay-dependent sufficient conditions are established to guarantee closed-loop stability of the predictive cruise control system of the autonomous and connected vehicle. Comparison with PID control simulation is used to illustrate the effectiveness of the proposed method.

Key words: control science and engineering, autonomous and connected vehicle, predictive cruise control, time-delay, receding horizon control, stability

中图分类号:

TP273

何德峰,罗捷,舒晓翔. 自主网联车辆时滞反馈预测巡航控制[J]. 吉林大学学报(工学版), 2021, 51(1): 349-357.

De-feng HE,Jie LUO,Xiao-xiang SHU. Delay-feedback predictive cruise control of autonomous and connected vehicles[J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(1): 349-357.

图/表 6

图1

图2

表1

状态量、输入量约束设置"

状态量(输入量)	约束
e(k)	-50 m $≤$ e(k) $≤$ 2 m
v_rel(k)	-14 m/s $≤$ v_rel(k) $≤$ 14 m/s
v_h(k)	0 $≤$ v_h(k) $≤$ 14 m/s
a_h(k)	-5.5 m/s² $≤$ a_h(k) $≤$ 4 m/s²
Δa_h(k)	-5 m/s³ $≤$ Δa_h(k) $≤$ 5 m/s³
u(k)	-5.5 m/s² $≤$ u(k) $≤$ 4 m/s²

表1

图3

图4

图5

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