基于5G V2X通信的车辆协同跟随控制策略研究  

Study on Cooperative Following Control Strategy for Vehicles Based on 5G V2X Communication

作　　者：阴晓峰 朱宇航 赵小娟 杨柯普 李磊 YIN Xiao-feng;ZHU Yu-hang;ZHAO Xiao-juan;YANG Ke-pu;LI Lei(Institute of Automotive Engineering,Xihua University,Chengdu Sichuan 610039,China;Chengdu Zhixing New Material Technology Research Co.,Ltd.,Chengdu Sichuan 611731,China)

机构地区：[1]西华大学汽车工程研究所,四川成都610039 [2]成都知行新材料技术研究有限公司,四川成都611731

出　　处：《公路交通科技》2022年第5期149-156,共8页Journal of Highway and Transportation Research and Development

基　　金：四川省科技计划项目(2021YFQ0052,2019YFG0367,2020008,2019112);西华大学研究生创新基金项目(YCJJ2021091)。

摘　　要：为在保障行车安全的前提下实现车辆跟随行驶,基于5G车与外界互联(5GV2X)技术建立了车辆协同跟随控制系统,该系统由协同决策层、运动控制层、车辆状态采集模块和5G V2X通信模块组成。针对协同决策层,设计了安全距离模型,以根据主车和前车的速度及相对速度计算了期望安全距离。基于车间运动学模型,运用模型预测控制算法计算了期望加速度。针对运动控制层,设计了驱动/制动切换模块,以根据期望加速度确定车辆运动控制模式。运用模糊控制器调节了PID控制算法的比例、积分和微分参数,根据确定的控制参数,使用PID算法控制主车在保持与前车安全距离的同时实现对前车的跟随行驶。车辆状态采集模块根据5G V2X通信模块获取的信息,为协同决策层和运动控制层提供了车辆运动状态信息。5G V2X通信模块实现了车与车之间的速度、位置信息交换。通过MATLAB/Simulink和CarSim联合仿真,在匀速跟随、加速跟随、他车驶入及变速跟随4种工况下验证了控制策略的有效性。结果表明:在4种工况下,主车均能在较短时间内达到与前车的期望车间距,并实现良好的速度跟随;在他车驶入工况下,主车能够较快地识别驶入车辆;在变速跟随工况下,实际车间距及主车车速均与期望车间距及前车车速的变化趋势保持良好的一致性。In order to realize vehicle following driving under the premise of ensuring driving safety, a vehicle cooperative following control system is established based on 5 G vehicle to everything(5 G V2 X) technology, which consists of collaborative decision-making layer, motion control layer, vehicle status acquisition module, and 5 G V2 X communication module. For the collaborative decision-making layer, a safe distance model is designed to calculate the expected safe distance based on the speeds of the host vehicle and leading vehicle and their relative speed, and the desired acceleration is calculated by using MPC algorithm based on inter-vehicle kinematics model. For the motion control layer, a drive/brake switching module is designed to determine the vehicle motion control mode according to the desired acceleration. The proportional, integral, and differential coefficients of the PID control algorithm are adjusted by using fuzzy controller, which are then used to maintain a safe distance between the vehicles and meanwhile follow the motion of the leading vehicle by using PID algorithm. Based on the information collected by the 5 G V2 X communication module, the vehicle status acquisition module provides vehicle motion status information for the collaborative decision-making layer and the motion control layer. The 5 G V2 X communication module enables the exchange of speed and position information between the vehicles. Through MATLAB/Simulink and CarSim joint simulation, the effectiveness of the control strategy is verified under the working conditions of constant speed following, accelerated speed following, another vehicle cutting-in, and variable speed following. The result shows that(1) the host vehicle can reach the expected distance in a relatively short period of time and achieve good speed following performance under all work conditions;(2) the host vehicle can quickly identify the incoming vehicle under another vehicle cutting-in condition;(3) the actual vehicle distance between the host and the leading ve

关 键 词：汽车工程 协同跟随 模糊PID 5G V2X 模型预测控制 智能网联汽车 

分 类 号：U461.91[机械工程—车辆工程]