不可靠通信的云控场景下网联车辆控制器的设计  

Design of Connected Vehicle Controller Under Cloud Control Scenes with Unreliable Communication

作　　者：许庆[1] 潘济安 李克强[1] 王建强[1] 吴向斌 Xu Qing;Pan Ji’an;Li Keqiang;Wang Jianqiang;Wu Xiangbin(School of Vehicle and Mobility,Tsinghua University,Beijing 100084;Intel China Research Center,Beijing 100080)

机构地区：[1]清华大学车辆与运载学院,北京100084 [2]英特尔中国研究院,北京100080

出　　处：《汽车工程》2021年第4期527-536,共10页Automotive Engineering

基　　金：国家自然科学基金(52072212);英特尔智能网联汽车大学合作研究中心资助。

摘　　要：鉴于不可靠的网络通信给车辆网联控制带来的隐患,本文研究了考虑时延、丢包等因素的网联车辆控制器设计方法。首先基于马尔可夫跳变线性系统,建立包含随机丢包和时延事件的网络控制系统模型,提出了马尔可夫跳变线性系统稳定的线性矩阵不等式条件,给出了随机丢包的量化控制器设计方法。在此基础上,通过对系统方程矩阵的增广,提出了离散时延的跳变控制器设计方法。最后,分别对网联车辆横向与纵向控制两个典型云控场景进行仿真。结果表明,用本文提出的方法,在时延或丢包概率分布已知的条件下所设计的网联车辆控制系统量化控制器,能保证在不可靠通信情况下系统的稳定性和安全性。In view of that unreliable network communication brings hidden trouble to V2V control,the design method of connected vehicle controller considering the factors of time delay and packet drop is studied in this paper.Firstly,based on Markovian jump linear system,a model for network control system with stochastic packet drop and time delay events is set up,the stable conditions of the system are proposed in the form of linear matrix inequality,and the design method of the quantized controller with stochastic packet drop is given.On this basis,through the augmentation of system equation matrix,the design method of jump controller under discrete delay is proposed.Finally,a simulation on two typical cloud control scenes of longitudinal and lateral controls of connected vehicle is conducted and the results indicate that under the delay or packet drop with known probability distribution,the quantized controller of connected vehicle control system designed with the method proposed can ensure the stability and safety of system in the situation of unreliable communication.

关 键 词：网联车辆控制 马尔可夫跳变线性系统 云控 丢包 时延 

分 类 号：U463.6[机械工程—车辆工程]