车队速度滚动时域动态规划及非线性控制  

Platoon Speed Receding Horizon Dynamic Programming and Nonlinear Control

作　　者：王琼[1] 郭戈 WANG Qiong;GUO Ge(School of Control Science and Engineering, Dalian University of Technology, Dalian 116024;Laboratory of Synthetical Automation for Industrial Process, Northeastern University,Shenyang 110004;School of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004)

机构地区：[1]大连理工大学,控制科学与工程专业大连116024 [2]东北大学流程工业综合自动化国家重点实验室,沈阳110004 [3]东北大学秦皇岛分校控制工程学院,秦皇岛066004

出　　处：《自动化学报》2019年第5期888-896,共9页Acta Automatica Sinica

基　　金：国家自然科学基金(61273107;61573077)资助~~

摘　　要：考虑自主车辆队列的节能安全问题,本文提出一种车辆队列协同控制方法,该方法可保证车队低能耗安全行驶.首先,充分考虑道路坡度以及车队异质性建立车队非线性模型,利用基于油耗模型的优化指标构建车队速度优化问题,提出一种滚动时域动态规划算法(Receding horizon dynamic programming, RHDP),获得车队的参考速度.然后,基于非线性车辆模型,运用反步法设计车辆跟踪控制器,并进行车队队列稳定性分析.这种协同控制方法的有效性已通过数值仿真和智能交通实验平台的验证.This paper considers the problem of fuel-efficient and safe of autonomous platoons. A cooperative control is presented, which can guarantee safety driving of a platoon with the lowest fuel consumption. First, we develop a nonlinear platoon vehicle dynamic model considering road topography and platoon heterogeneity. The optimization problem is formulated by using the optimization index, which is a function of fuel consumption. A receding horizon dynamic programming(RHDP) methodology is proposed to obtain the reference velocity. Then, based on the nonlinear vehicle model and exploiting backstepping methodology, the tracking controller is designed, and further the string stability of the platoon is analyzed. The effectiveness of the presented cooperative method is demonstrated by both numerical simulation and experiments with laboratory-scale Arduino cars.

关 键 词：车队油耗 滚动动态规划 非线性控制 速度跟踪 队列稳定性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U471.23[自动化与计算机技术—控制科学与工程]