Platoon车辆自动控制方法及性能分析  

Automatic Control Method and Performance Analysis of Platoon Vehicles

作　　者：赵海 郭红叶 司帅宗 朱剑 ZHAO Hai;GUO Hong-ye;SI Shuai-zong;ZHU Jian(School of Computer Science and Engineering,Northeastern University,Shenyang 110169,China)

机构地区：[1]东北大学计算机科学与工程学院,辽宁沈阳110169

出　　处：《东北大学学报（自然科学版）》2018年第6期781-786,共6页Journal of Northeastern University(Natural Science)

基　　金：中央高校基本科研业务费重大科技创新项目(02190022117021)

摘　　要：在车辆编队platoon的控制管理中领头车辆为跟随车辆周期性广播其运动参数及驾驶行为等信息是必要的.为了保证车队稳定性和鲁棒性,提出一种platoon车辆的自适应控制方法,该方法考虑领头车辆和相邻前车的动态信息,对包括车辆动力学和控制子系统的闭环线性系统,采用H∞控制理论求解最优控制增益函数,并给出系统传递函数矩阵和间距误差函数所满足的队列稳定性条件.最后,用该方法得到platoon车辆运动参数及间距误差的变化轨迹,并对比仅考虑前车信息的控制方法.数值结果表明所提方法的控制效果更好,能实现车辆的渐进跟随,保证队列稳定性和驾驶安全性.The leader vehicle broadcast the information included motion parameters and driving behavior to followers is necessary in the control of platoon vehicles. To ensure the stability and robustness of platoon, an adaptive control method of vehicles was proposed, in which the motion information of leader and adjacent front vehicle became inputs of control system. The Hx control theory was used to solve the optimal control gain function, for closed-loop linear system contained vehicles dynamics subsystem and control subsystem, and the string stability conditions were presented that the system transfer function matrix and spacing error function satisfied. This method was used to acquire the dynamic trajectory of motion parameters and spacing error function,and was compared with the control method based on front vehicle. The numerical results showed that the asymptotic following effect of vehicles and guarantee string stability and safety of platoon could be improved by using the proposed method.

关 键 词：platoon 自适应控制 鲁棒控制理论 队列稳定性 渐进跟随 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]