基于事件触发机制的自主车辆队列协同控制  

Consensus for autonomous vehicle platoon system via event-triggered control

作　　者：申通 唐晔 李立[3] Shen Tong;Tang Ye;Li Li(College of Missile Engineering,The Rocket Force University of Engineering,Xi’an 710025,China;School of Electronic&Information Engineering,Xi’an Jiao Tong University,Xi’an 710049,China;School of Electronic&Control Engineering,Chang’an University,Xi’an 710064,China)

机构地区：[1]火箭军工程大学导弹工程学院,西安710025 [2]西安交通大学电子与信息工程学部,西安710049 [3]长安大学电子与控制工程学院,西安710064

出　　处：《计算机应用研究》2021年第3期792-795,共4页Application Research of Computers

基　　金：国家重点研发资助项目(2018YFB1600600);国家自然科学基金资助项目(71901040);陕西省自然科学基础研究计划资助项目(2019JQ-442);长安大学大学生创新创业训练计划资助项目(201910710066)。

摘　　要：为应对通信过程存在的扰动以及减少自主车辆队列控制中的信息冗余、资源浪费,提出了一种基于事件触发机制的自主车辆队列协同控制算法,保证自主车辆队列的稳定运行。首先,针对有向通信拓扑结构下的自主车辆队列设计基于事件触发机制的协同控制算法,即使存在扰动约束,自主车辆也可以在该算法的控制下有效跟随领航车辆的速度,且与相邻车辆保持期望的安全距离。其次,通过设计Lyapunov函数以及分析Zeno行为,证明算法的有效性和安全性。最后,通过MATLAB仿真验证了控制算法的正确性。This paper proposed an event-triggered mechanism based on cooperative control algorithm for the stability of autonomous vehicle platoon system,which could deal with the disturbance in the communication process and reduce the information redundancy and resource waste in the platoon control.Firstly,this paper designed a vehicle platoon algorithm for the directed topology on the basis of event-triggered mechanism.Even if there was disturbance,the follower autonomous vehicles could be consistent with the speed of leader autonomous vehicle,and each two consecutive autonomous vehicles could keep the desired safe distance.In addition,it constructed a Lyapunov function and gave the analysis of Zeno behavior to testify the validity and security of the proposed algorithm.Finally,the numerical simulation proves the correctness of the control algorithm.

关 键 词：事件触发 自主车辆队列 扰动 一致性 Zeno行为 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]