严格避撞的车辆队列分布式鲁棒控制  

Distributed Robust Control of Vehicle Platoon for Strict Collision Avoidance

作　　者：杨泽宇[1] 黄晋 胡展溢 谢国涛 钟志华[1,2] Yang Zeyu;Huang Jin;HuZhanyi;Xie Guotao;Zhong Zhihua(School of Vehicle and Mobility,Tsinghua University,Beijing 100084;Chinese Academy of Engineering,Beijing 100088)

机构地区：[1]清华大学车辆与运载学院,北京100084 [2]中国工程院,北京100088

出　　处：《汽车工程》2020年第10期1312-1319,共8页Automotive Engineering

基　　金：国家自然科学基金(61872217)资助。

摘　　要：针对智能网联车辆队列控制问题,提出一种严格避撞的分布式鲁棒控制器设计方法。建立了包含复杂不确定性与外部干扰的非线性误差动力学模型。通过限定车间距误差的波动区间来保证队列避撞性与紧凑性,并据此引入车间距势函数。结合车间距势函数、自车与邻近车辆状态和动力学不确定边界设计了分布式鲁棒控制律。从理论上证明了该控制器能保证队列的避撞性与紧凑性和车速误差的队列稳定性,并分析了通信拓扑和控制参数对控制性能的影响。通过修正期望车间距模型,控制器的应用范围可扩展到大初始误差工况。最后,通过数值仿真验证了主要理论分析结果。Aiming at the control problem of a platoon of connected intelligent vehicles,adesign method of strict collision-avoidance distributed robust controller is proposed in this paper.Firstly,a nonlinear error dynamic model containing complex uncertainties and external disturbances is established,the collision-avoidance abilityandcompactness of platoon are ensured by fluctuation interval limiting vehicle spacing error,and accordingly a vehicle spacing potential function is introduced.Then based on spacing potential function,the states of egovehicle and neighboring vehicles and dynamically uncertain boundaries,a distributed robust control law is designed,and it is theoretically proved that the controller can ensure the collision-avoidance ability,compactness and stability in speed errorof platoon,with the effects of communication topology and control parameters on control performance analyzed.By correcting the desired vehicle spacing model,the application scope of the controller can be extended to the condition with large initial error.Finally,a numerical simulation is performed to verify the results of main theoretical analysis.

关 键 词：车辆队列 严格避撞 非线性鲁棒控制 队列稳定性 

分 类 号：U463.6[机械工程—车辆工程]