多切入机制下基于信息物理系统的混合车群协同控制  

CPS-based mixed vehicle group cooperative control with multiple cut-in maneuvers

作　　者：黄帅 孙棣华[1,2] 赵敏[1,2] HUANG Shuail;SUN Di-hual;ZHAO Min(School of Automation,Chongqing University,Chongqing 400030,China;Key Laboratory of Dependable Service Computing in Cyber Physical Society of Ministry of Education,Chongqing University,Chongqing 400030,China)

机构地区：[1]重庆大学自动化学院,重庆400030 [2]重庆大学信息物理社会可信服务计算教育部重点实验室,重庆400030

出　　处：《控制与决策》2024年第1期17-25,共9页Control and Decision

基　　金：国家自然科学基金项目(62073049);中央高校基本科研业务费专项资金项目(2022CDJDX-003);重庆市技术创新与应用发展专项重点项目(CSTB2022TIAD-KPX0099)。

摘　　要：传统人驾车(HVs)为了能够快速行驶到目标车道,常常会向目标车道进行强制换道,这一过程被视为传统人驾车的切入机制.然而,该过程会影响目标车道中由传统人驾车和网联自动车(CAVs)组成的混合车群稳定性.当一个车道上由多个传统人驾车组成的车群同时切入到目标车道上的混合车群中时会对混合车群的稳定性影响较大.针对这一问题,首先对车辆动力学模型进行刻画,以描述车辆行驶的平稳性和混合车群的稳定性.然后,为了确保由多个传统人驾车组成的车群同时切入到混合车群时的稳定性,从信息物理系统(CPS)的视角出发,并基于一致性约束和通信拓扑结构,提出一种考虑通信时延和反应时延的混合车群协同控制方法;同时,利用Lyapunov-Krasovskiis理论进一步分析所提出控制方法满足的稳定性条件.最后,通过仿真实验结果表明了所提出控制方法的有效性和可行性.In order to quickly drive to the target lane,traditional human-driving vehicles(HVs)often forcibly change to the target lane,which is deemed as traditional human-driving vehicles cut-in maneuvers.However,this process will affect the stability of a mixed vehicle group composed of traditional human-driving vehicles and connected automated vehicles(CAVs)in the target lane.When a vehicle group consisting of multiple traditional human-driving in a lane cut-ins to the mixed vehicle group in the target lane,it will have greater impact on the stability of the mixed vehicle group.In response to this concern,the paper first characterizes the vehicle dynamics model to describe the smoothness of vehicle driving and the stability of the mixed vehicle group.Then,to guarantee the stability of a vehicle group composed of multiple traditional human-driving vehicles cut-ins to a mixed vehicle group,this paper proposeds a mixed vehicle group cooperative control method via considering communication delay and reaction delay based on consensus constraints and communication topologies from the perspective of cyber-physical systems(CPS).Simultaneously,the Lyapunov-Krasovskiis theory is used to further analyze the stability conditions of the proposed control method.Finally,the results from the simulation experiments show the effectiveness and feasibility of the proposed control method.

关 键 词：混合交通 信息物理系统 混合车群 切入机制 协同控制 李雅普诺夫理论 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]