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汽车安全与节能学报

汽车安全与节能学报 ›› 2020, Vol. 11 ›› Issue (2): 182-188.DOI: 10.3969/j.issn.1674-8484.2020.02.004

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考虑时滞的协作式自动驾驶车队的纵向控制方法

李正磊 1 ，褚端峰 1* ，贺宜 1 ，陆丽萍 2 ，吴超仲 1   

  1. （1. 武汉理工大学 智能交通系统研究中心，武汉 430063，中国； 2. 武汉理工大学 计算机科学与技术学院，武汉 430070，中国）
  • 收稿日期:2019-05-20 出版日期:2020-06-30 发布日期:2020-06-30
  • 通讯作者: 褚端峰，研究员，E-mail: chudf@whut.edu.cn。
  • 作者简介:第一作者 / First author ： 李正磊（1993—），男（汉），湖北，硕士研究生。E-mail: lizhenglei@whut.edu.cn。
  • 基金资助:
    国家重点研发计划项目 (2018YFB1600600) ；国家自然科学基金 (51675390、U1764262）；汽车安全与节能国 家重点实验室开发基金 (KF1807)。

Longitudinal control method of cooperative autopilot vehicle platooning considering time delays

LI Zhenglei 1 , CHU Duanfeng 1* , HE Yi 1 , LU Liping 2 , WU Chaozhong 1   

  1. (1. Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430063, China; 2. School of Computer Science and Technology, Wuhan University of Technology, Wuhan 430070, China)
  • Received:2019-05-20 Online:2020-06-30 Published:2020-06-30

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摘要： 为提高协作式的自动驾驶车队的纵向控制器的鲁棒性，提出了一种考虑车辆执行器时延和车 车通信时延因素的纵向控制方法。该方法综合本车与相邻前车以及车队领头车的运动状态（包括车辆 位置、车间距偏差、速度、加速度）信息，建立了一个车队编队结构模型。为保持队列稳定性，根据 Lyapunov 稳定性理论，推导出时延和 PID（比例积分微分）控制器参数的边界条件。对一个10 辆车 组成的车队进行仿真。结果表明：当被控车响应相邻前车和车队领头车的运动状态变化时，车辆间距 误差最大为 0.8 m。在领头车进行紧急制动工况（减速度达到 0.8 g）时，也能避免追尾事故发生。

关键词: 道路交通安全, 自动驾驶, 协作式车队, 纵向控制, 时滞, 车队稳定性

Abstract: A longitudinal control method was proposed to improve of robustness for an autopilot cooperative vehicle platooning longitudinal controller considering the time delay of vehicle actuator and the time delay of inter-vehicle communication. A platoon formation model was established with integrating the information including the vehicle position, the spacing deviation between vehicles, the vehicle speeds, and the vehicle accelerations between self-vehicle and the adjacent preceding-vehicle and between self-vehicle and the leadervehicle of the platoon. Boundary conditions of the time delays and the parameters of the PID (proportional, integral, differential) controller were derived based on the Lyapunov stability theory to keep the platoon stability. Simulation analyses were done for a platoon of ten vehicles. The results show that the maximum error is 0.8 m of the deviation of the spaces between vehicles when the controlled vehicle responds with the motion state changing of the adjacent front vehicle and the platoon leader vehicle. Therefore, the rear-end collisions can be avoided when happening a braking deceleration of 0.8 g at the emergency conditions of the platoon leader vehicle.

Key words: road traffic safety, autopilot, cooperative vehicle platooning, longitudinal control, time delays; platoon stability

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