基于多车辆集群的多编队一致性协议  

Multi-platoon consensus protocol based on multi-vehicle clusters

作　　者：谢光强[1] 吴彦彬 李杨[1] 许浩然 Xie Guangqiang;Wu Yanbin;Li Yang;Xu Haoran(School of Computers,Guangdong University of Technology,Guangzhou 510000,China)

机构地区：[1]广东工业大学计算机学院,广州510000

出　　处：《计算机应用研究》2021年第10期2948-2953,共6页Application Research of Computers

基　　金：国家自然科学基金资助项目(62006047,618760439)。

摘　　要：针对车道减少路段下的车辆通行问题,提出了一个基于多车辆集群的多编队横向和纵向一致性协议。该协议既保证集群内领导车、跟随车状态的一致性,又保证集群间领导车状态的一致性,使得集群所有车辆能够通过车道减少路口。利用Routh稳定理论和Lyapunov方法,对控制协议进行一致性和稳定性分析。仿真实验结果验证了所提横向和纵向协议能够使得多车辆集群收敛一致,并且在满足不同车辆换道比例的情况下能够提高道路吞吐量、减少总通行时间。Aiming at the problem of vehicle traffic under reducing lanes,this paper proposed a multi-formation horizontal and longitudinal consistency protocol based on multi-vehicle clusters.It not only guaranteed the consistency of the,state of the leader and the follower in the cluster,but also ensured the consistency of the state of the leader among the clusters,so that all vehicles in the cluster could pass lanes to reduce intersections.It used Routh’s stability theory and Lyapunov method to analyze the consistency and stability of the control protocol.The simulation experiment results verify that the proposed horizontal and longitudinal protocols can make the multi-vehicle clusters converge uniformly,and can increase road throughput and reduce the total travel time while meeting the different vehicle lane change ratio.

关 键 词：车道减少 智能网联汽车 多智能体系统 领导跟随一致性 分布式编队 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]