基于分布式滑模的智能网联汽车变车距队列控制  

Distributed sliding mode based platoon for intelligent connected vehicles with time-varying inter-vehicle distance

作　　者：张野 张建国 Zhang Ye;Zhang Jianguo(School of Electronic and Control Engineering,Chang’an University,Xi′an 710064,China)

机构地区：[1]长安大学电子与控制工程学院,西安710064

出　　处：《电子测量技术》2020年第22期62-66,共5页Electronic Measurement Technology

摘　　要：研究在车辆密度下面向智能网联汽车的变车距队列控制问题,提出一种基于分布式滑模的智能网联汽车变车距队列控制方法。首先,建立车辆的三阶非线性动力模型,并通过反馈线性法转化成线性模型。然后,根据道路的车辆密度信息,定义一种代价函数来表述车辆队列系统的性能,并求出每辆车的最优位置。在此基础上,将车辆变车距队列控制问题转化为移动点追踪问题。再者,提出一种分布式滑模算法,能够有效地使车辆行驶到目标道路上的最佳位置,并严格分析了所提出的车辆队列控制系统的稳定性。最后,仿真结果表明,所提算法可以实现智能网联车辆的变车距队列控制,且相邻车辆的间距可随车辆密度动态变化,提高道路安全性。Investigate the time-varying inter-vehicle spacing problems for intelligent connected vehicles with the vehicle density function, an distributed sliding mode based vehicle platoon control strategy is proposed for intelligent connected vehicles with time-varying inter-vehicle distance. Firstly, establish a third-order nonlinear dynamic model of the each vehicle, and transform it into a linear model through the feedback linear method. Then, present a cost function to describe the performance of the vehicle systems and find out the optimal positions of vehicles. On this basis, the time-varying inter-vehicle distance problem is transformed into a moving target tracking problem. Moreover, a distributed sliding mode scheme is proposed to drive vehicles to the optimal positions on the road. The stability of the proposed vehicle system is strictly analyzed. In final, the simulation results show that the proposed algorithm can achieve that the inter-vehicle distance can dynamically change with the vehicle density, which improves road safety.

关 键 词：车辆队列控制 车辆密度 分布式滑模算法 系统稳定性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]