考虑前置通信与时变时滞的车辆跟随系统稳定性分析

doi:10.3969/j.issn.1674-8484.2023.04.008

汽车安全与节能学报 ›› 2023, Vol. 14 ›› Issue (4): 463-471.DOI: 10.3969/j.issn.1674-8484.2023.04.008

考虑前置通信与时变时滞的车辆跟随系统稳定性分析

周俐光¹(), 许航², 上官星辰², 闫晨³

1.湖南中车智行科技有限公司，长沙 410000，中国
2.中国地质大学(武汉) 自动化学院，武汉 430074，中国
3.长江三峡通航管理局，宜昌 443000，中国

收稿日期:2022-10-04 修回日期:2023-06-13 出版日期:2023-08-31 发布日期:2023-08-31
作者简介:周俐光 (1985—)，男(汉)，湖北，工程师。E-mail：zhoulg@csrzic.com。
基金资助:
国家自然科学基金青年项目(62203409)

Stability analysis of the vehicle platoon system considering predecessor following and time-varying delay

ZHOU Liguang¹(), XU Hang², SHANGGUAN Xingchen², YAN Chen³

1. Hunan CRRC Zhixing Technology Co., LTD, Changsha 410000, China
2. School of Automation, China University of Geosciences (Wuhan), Wuhan 430074, China
3. Three Gorges Navigation Authority, Yichang 443000, China

Received:2022-10-04 Revised:2023-06-13 Online:2023-08-31 Published:2023-08-31

摘要/Abstract

摘要：

为提高汽车队列行驶的安全性，针对存在时变时滞的车辆跟随系统稳定性问题，提出了基于Lyapunov-Krasovskii泛函(LKF)的时滞相关稳定分析方法，以估计系统稳定容许时滞变化范围。对具有时变时滞的车辆跟随系统，建立了具有双时变时滞的系统模型；考虑2个时变时滞变量的关系构造LKF，通过矩阵不等式处理后给出具有双时变时滞系统的稳定性判据；针对4车队列利用MATLAB软件计算不同控制参数下的时滞容许范围。结果表明：在测试设定的车辆跟随系统的参数下，控制器增益与系统能够容许的最大时滞成反比关系；相同参数下，高速行驶的车辆队列受时滞的影响更大；提出的稳定分析方法可以得到保证系统稳定最大容许时滞，为设计实际车辆跟随队列的控制器提供稳定性判据。

关键词: 车辆跟随系统, 时变时滞, 稳定性分析, Lyapunov-Krasovskii泛函 (LKF)

Abstract:

In order to improve the safety of vehicle queuing, a delay-dependent stability analysis method based on Lyapunov-Krasovskii functional (LKF) was proposed to estimate the range of allowable time delay for vehicle following system with time-varying delay. For the vehicle following system with time-varying delay, a system model with double time-varying delay was established. Considering the relationship between two time-varying delay variables, LKF was constructed, and the stability criterion of the system with double time-varying delay was given after processing by matrix inequalities. The allowable range of time delay under different control parameters was calculated by MATLAB software for 4 vehicle lines. The results show that the controller gain is inversely proportional to the maximum time delay allowed by the system under the parameters of the vehicle following system; and under the same parameters, the delay is more important to the high-speed vehicle queue; The proposed stability analysis method can obtain the maximum allowable time delay to ensure the stability of the system, and provide stability criteria for designing the controller of the actual vehicle following queue.

Key words: vehicle platoon system, time-varying delay, stability analysis, Lyapunov-Krasovskii functional(LKF)

中图分类号:

U461.6

周俐光, 许航, 上官星辰, 闫晨. 考虑前置通信与时变时滞的车辆跟随系统稳定性分析[J]. 汽车安全与节能学报, 2023, 14(4): 463-471.

ZHOU Liguang, XU Hang, SHANGGUAN Xingchen, YAN Chen. Stability analysis of the vehicle platoon system considering predecessor following and time-varying delay[J]. Journal of Automotive Safety and Energy, 2023, 14(4): 463-471.

图/表 6

图1 集中式控制架构控制结构图

误差补偿矩阵U	时滞变量上界τ₂(t)
误差补偿矩阵U	K_p = 0.7	K_p = 0.9	K_p = 1.0	K_p = 1.1
[0.4 1.0 0]	0.730 7	0.577 9	0.517 8	0.465 1
[0.5 1.0 0]	0.575 0	0.463 6	0.421 1	0.379 2
[0.9 1.0 0]	0.172 6	0.137 0	0.118 4	0.101 8
[1.0 1.0 0]	0.103 8	0.075 9	0.063 7	0.048 6

表1 4车队列时滞变量上界

图2 城市公路行驶情形相邻两车间距响应曲线

图3 城市公路行驶情形车辆速度响应曲线

图4 高速公路行驶情形相邻两车间距响应曲线

图5 高速公路行驶情形车辆速度响应曲线

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考虑前置通信与时变时滞的车辆跟随系统稳定性分析

Stability analysis of the vehicle platoon system considering predecessor following and time-varying delay

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