跟驰场景中网联混合电动货车速度规划和能量管理协同控制的研究  

Study on Coordinated Control of Speed Planning and Energy Management for Connected Hybrid Electric Truck in Vehicle Following Scene

作　　者：解少博[1] 屈鹏程 李嘉诚 王惠庆 郎昆 Xie Shaobo;Qu Pengcheng;Li Jiacheng;Wang Huiqing;Lang Kun(School of Automotive Engineering,Chang’an University,Xi’an 710064)

机构地区：[1]长安大学汽车学院,西安710064

出　　处：《汽车工程》2022年第8期1136-1143,1152,共9页Automotive Engineering

基　　金：国家自然科学基金(52072047);中央高校基本科研业务费专项资金(300102221202)资助。

摘　　要：鉴于队列行驶中的网联混合动力货车(HET)的跟驰速度既涉及行车安全、能量需求与分配和电池老化速率,同时又通过车间距,影响气动阻力,以至能耗经济性,本文中提出跟驰场景下综合考虑行车安全性、能耗经济性、气动阻力和电池老化等多个目标的速度规划和能量管理协同控制策略。首先,基于空气动力学量化跟驰安全性。其次,以安全性成本、能耗成本和电池老化成本构成的等效总成本最小化为目标函数并基于模型预测控制构建实时控制策略。其中,采用长短时记忆神经网络对前车速度进行预测,并采用动态规划求解滚动时域内的优化问题。结果表明,协同控制策略能通过抑制动力电池充放电电流来降低电池老化成本,以及借助灵活调整跟驰距离来减小气动阻力并降低能耗成本。与基于人类驾驶模型的跟驰策略进行对比,结果验证了协同控制策略的可行性。In view of that the following speed of network-connected hybrid electric truck in a fleet not only affects the driving safety,energy demand and distribution and battery aging rate,but also influence the aerodynamic drag and even the energy consumption through vehicle spacing,the speed planning and energy management strategy under vehicle following scenes are proposed in this paper with concurrent considerations of multi-objectives covering driving safety,energy consumption,aerodynamic drag and battery aging. Firstly,the vehicle following safety is quantified based on aerodynamics. Then,a real time control strategy based on model predictive control is constructed with minimizing the total equivalent cost consisting of safety cost,energy consumption cost and battery aging cost as objective function,in which the speed of front vehicle is predicted by using long-and short-term memory-based neural network,and the optimization problem in rolling time domain is solved with dynamic programming. The results show that the cooperative control strategy proposed can lower the battery aging cost via restraining the charging and discharging current,and reduce the aerodynamic drag and hence the energy cost by flexibly adjust following vehicle spacing. The results of comparison with human-driven-model-based following strategies verify the feasibility of cooperative control strategy proposed.

关 键 词：网联混合动力货车 速度规划 能量管理 空气动力学效应 电池老化率 模型预测控制 

分 类 号：U469.7[机械工程—车辆工程]