基于改进智能驾驶员模型的车队纵横向协同控制  

Longitudinal and Lateral Coordinated Control of Platoon Based on Improved Intelligent Driver Model

作　　者：覃频频 张顺锋[1,2] 吴锋民 谭鸿运 黄俊明 QIN Pin-pin;ZHANG Shun-feng;WU Feng-min;TAN Hong-yun;HUANG Jun-ming(Guangxi Key Laboratory of Manufacturing System&Advanced Manufacturing Technology,Nanning Guangxi 530004,China;School of Mechanical Engineering,Guangxi University,Nanning Guangxi 530004,China)

机构地区：[1]广西制造系统与先进制造技术重点实验室,广西南宁530004 [2]广西大学机械工程学院,广西南宁530004

出　　处：《公路交通科技》2022年第9期155-161,176,共8页Journal of Highway and Transportation Research and Development

基　　金：广西创新驱动发展专项项目(Guike AA18242033;GuikeAA18242033-6);广西制造系统与先进制造技术重点实验室项目(19-050-44-S003);广西科技基地和人才专项项目(2018AD19349)。

摘　　要：为了研究弯道、超高及坡度等道路几何设计参数对智能网联车队纵横向协同控制的影响,设计了一种以车辆纵向速度作为纵横向运动耦合变量的协同控制系统,其中纵向跟驰控制的上层加速度模型采用改进智能驾驶员模型反映道路几何设计参数对车辆跟驰行为的影响,结合下层逆纵向动力学模型实现对引导车辆的速度跟随;横向轨迹控制采用预瞄距离基于耦合速度变化的单点预瞄模型实现对引导车辆的轨迹跟踪,并设计滑膜控制器提高轨迹跟踪精度。搭建了Carsim/Simulink联合仿真平台,采用加减速、双移线和匝道工况验证了该协同控制系统纵横向及其协同控制性能。结果表明:该纵横向协同控制系统具有良好的纵向跟驰性能和较高的横向轨迹跟踪精度,对引导车辆速度和加速度皆保持较高的跟随精度,行车间距与速度变化呈正相关,且速度稳定时行车间距趋于稳定,同时该控制系统的转向角与Carsim内置转向模型一致性较高且转向平滑,侧向偏移量均小于0.2 m,且采用滑膜控制的轨迹跟踪精度更高;采用IIDM的协同控制系统组成的智能网联车队对道路几何设计参数的纵横向响应比采用IDM的车队更为显著,具体表现为减速行为更明显,行车间距增加0.55 m,且转向角减小,平均侧向偏移减少2.51×10m,更有利于车队整体安全性。In order to study the influence of road geometric parameters such as curve, super-elevation and slope on the longitudinal and lateral coordinated control of intelligent and connected platoon, a cooperative control system using the longitudinal velocity of vehicle as the coupled variable of the longitudinal and lateral motion is designed. The upper acceleration model of longitudinal car-following control adopts the IIDM to reflect the influence of road geometric parameters on the car-following behavior. Combining with the inverse longitudinal dynamics model in the lower layer to realize the speed following the leading vehicle. The lateral trajectory control adopts the single-point preview model in which the preview distance follows the coupling speed change to realize the tracking the trajectory of the leading vehicle, and the synovial controller is designed to improve the trajectory tracking accuracy. The Carsim/Simulink co-simulation platform is built, and the longitudinal, lateral and cooperative control performances of the cooperative control system are verified by using acceleration-deceleration, double shifting line and ramp conditions. The result shows that(1) The longitudinal and lateral cooperative control system has good longitudinal car-following performance and higher lateral trajectory tracking accuracy, it maintains higher tracking accuracy to the speed and acceleration of the leading vehicle. The distance between vehicles is positively correlated with speed changes, and the inter-vehicle distance tends to be stable when the speed is stable. Meanwhile, the steering angle of the control system has a high consistency with the Carsim’s built-in steering model, and the steering is smooth. The lateral offset is less than 0.2 m, and the control system with synovial control has higher trajectory tracking accuracy.(2) The intelligent and connected platoon composed of the coordinated control system based on IIDM has more obvious longitudinal and lateral responses to the road geometric parameters than those

关 键 词：智能交通 纵横向协同控制 改进智能驾驶员模型 智能网联车队 道路几何设计 

分 类 号：U491.2[交通运输工程—交通运输规划与管理]