异构载货车辆队列高速换道分布式反馈线性化控制

doi:10.3969/j.issn.1674-8484.2022.03.008

汽车安全与节能学报 ›› 2022, Vol. 13 ›› Issue (3): 473-481.DOI: 10.3969/j.issn.1674-8484.2022.03.008

异构载货车辆队列高速换道分布式反馈线性化控制

彭涛¹^,²(), 许庆², 陈强¹, 关志伟³, 侯海晶¹, 王涛¹, 李佳林¹

1.天津职业技术师范大学汽车与交通学院,天津 300072,中国
2.清华大学,汽车安全与节能国家重点实验室,北京 100084,中国
3.天津中德应用技术大学汽车与轨道交通学院,天津 300355,中国

收稿日期:2021-11-06 修回日期:2022-05-16 出版日期:2022-09-30 发布日期:2022-10-04
作者简介:彭涛(1983—),男(汉),山东,副教授。E-mail： pengtao@tute.edu.cn。
基金资助:
清华大学汽车安全与节能国家重点实验室开放基金(KF2013);国家自然科学基金项目(52172350);天津市自然科学基金重点项目(21JCZDJC00700);天津市科技支撑重点项目(18YFZCGX00380);2021年度“揭榜挂帅”校级科研项目(XJJB2105)

Distributed feedback linear control for heterogeneous freight vehicle platoon on highway

PENG Tao¹^,²(), XU Qing², CHEN Qiang¹, GUAN Zhiwei³, HOU Haijing¹, WANG Tao¹, LI Jialin¹

1. School of Automobile and Transportation, Tianjin University of Technology and Education, Tianjin 300222,China
2. State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084,China
3. Automobile and Rail Transportation College, Tianjin Sino-German University of Applied Sciences, Tianjin 300355,China

Received:2021-11-06 Revised:2022-05-16 Online:2022-09-30 Published:2022-10-04

摘要/Abstract

摘要：

针对异构载货车辆队列高速换道稳定性问题,提出了一种分布式反馈线性化控制器设计方法。以卡车和半挂汽车列车组成的异构载货车辆队列为研究对象,利用Gauss分布拟合方法,建立了一种考虑通信延迟和动力学差异性的车辆队列高速换道路径规划集,分析了高速换道过程中异构车辆及队列运动特性。构建了异构载货车辆队列非线性系统动力学模型,提出了车辆队列安全换道主动控制策略,设计了分布式反馈线性化控制器。利用VTD与Matlab/Simulink建立了高速换道交通场景并仿真。结果表明：相邻两车间距变化小于1%。因而,该控制器可保证异构载货车辆队列轨迹跟踪性和系统稳定性。

关键词: 货运安全, 自动驾驶, 异构车辆队列, 高速换道, 分布式控制, 稳定性分析

Abstract:

A method of distributed feedback linearization controller was proposed to improve the lane-change stability of heterogeneous freight vehicle platoon on highway. Taking the heterogeneous freight vehicle platoon composed of trucks and tractor-semitrailers as the research object, a high-speed lane changing path planning set was established with use of Gaussian distribution fitting method, and the motion characteristics of the vehicle platoon during high-speed lane changing was analyzed with considering the communication delay and dynamic difference. A nonlinear system dynamics model of heterogeneous freight vehicle platoons was constructed, an active control strategy for safe lane changing of vehicle platoons was proposed, and a distributed feedback linear controller was designed. Using VTD and Matlab/Simulink, a high-speed lane changing traffic scene was established and simulated. The results show that the distance change between two adjacent vehicles is less than 1%. Therefore, the controller can ensure the track tracking and stability of the heterogeneous freight vehicle platoon.

Key words: freight transportation safety, autonomous driving, heterogeneous vehicle platoon, lane-change on highway, distributed control, stability analysis

中图分类号:

U469.2

彭涛, 许庆, 陈强, 关志伟, 侯海晶, 王涛, 李佳林. 异构载货车辆队列高速换道分布式反馈线性化控制[J]. 汽车安全与节能学报, 2022, 13(3): 473-481.

PENG Tao, XU Qing, CHEN Qiang, GUAN Zhiwei, HOU Haijing, WANG Tao, LI Jialin. Distributed feedback linear control for heterogeneous freight vehicle platoon on highway[J]. Journal of Automotive Safety and Energy, 2022, 13(3): 473-481.

图/表 9

图1 车辆队列换道平面运动示意图

图2 通信延迟下异构车辆队列换道路径规划集

图3 异构车辆队列相邻车辆相对速度变化

图4 异构车辆队列相邻车辆相对间距变化

图5 分布式反馈线性化控制器设计

图6 异构车辆队列运动场景仿真建模

场景	车号	车辆类型	m t	t_d ms
1	1	空载卡车（领头车）	5.760	0
	2	满载卡车	12.800	30
	3	空载半挂汽车列车	15.979	60
	4	满载半挂汽车列车	49.000	90
2	1	半载卡车（领头车）	9.280	0
	2	空载半挂汽车列车	15.979	30
	3	满载半挂汽车列车	49.000	60
	4	半载半挂汽车列车	32.490	90

表1 异构车辆队列高速换道仿真条件

图7 场景1队列系统各节点车辆运动情况

图8 场景二队列系统各节点车辆运动情况

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异构载货车辆队列高速换道分布式反馈线性化控制

Distributed feedback linear control for heterogeneous freight vehicle platoon on highway

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