面向预期功能安全的汽车队列主动容错控制  

Active Fault Tolerant Control for Ensuring the Safety of the Intended Functionality of Vehicular Platoons

作　　者：王博[1] 罗禹贡[1] 赵超[1] 王永胜[1] WANG Bo;LUO Yugong;ZHAO Chao;WANG Yongsheng(School of Vehicle and Mobility,Tsinghua University,Beijing 100084)

机构地区：[1]清华大学车辆与运载学院,北京100084

出　　处：《机械工程学报》2024年第10期384-398,共15页Journal of Mechanical Engineering

基　　金：国家重点研发计划资助项目(2022YFE0101000)。

摘　　要：针对智能网联汽车队列预期功能安全挑战,以同时存在感知、控制执行与通信系统性能局限的智能网联汽车为研究对象,提出面向预期功能安全的汽车队列主动容错控制。首先,提出适应不同间歇车间通信拓扑构型的队列容错控制方法,分别设计分布式增广综合干扰估计器、容错跟踪控制器和安全控制器,用于提供估计信息、应对理想或部分连接的和应对完全中断车间通信拓扑构型;此外,提出了时变车间通信条件下的控制器平稳切换充分条件及其在线参数自适应更新方法,应对时变的间歇通信与控制器切换。基于Matlab/Simulink建立7车队列模型和控制策略,基于dSpace和真实通信硬件搭建队列容错控制硬件在环试验平台,对比验证了所提控制策略的有效性和优越性。仿真和试验结果表明,所提方法在多种工况下均可保障队列在同时存在感知、控制执行和通信性能局限条件下的安全稳定运行,且良好的鲁棒性和切换平顺性。The safety of the intended functionality challenges of intelligent and connected vehicular platoons is addressed,considering the limitations in perception,execution,and communication systems.An adaptive fault-tolerant control method is proposed to ensure the expected functional safety in platoon operations.Firstly,a platoon fault-tolerant control method is presented to accommodate different intermittent inter-vehicle communication topologies.It includes the design of a distributed augmented interference estimator,fault-tolerant tracking controller,and safety controller,which provide estimation information and handle ideal or partially connected as well as completely interrupted inter-vehicle communication topologies.Additionally,a controller switching condition under time-varying communication conditions and an online parameter adaptive update method are proposed to handle the intermittent communication and controller switching.A 7-vehicle platoon model and control strategy are established using Matlab/Simulink,and a platoon fault-tolerant control hardware-in-the-loop experimental platform is constructed using dSpace and real communication hardware.Simulation and experimental scenarios are designed to validate the effectiveness and superiority of the proposed control strategy.The simulation and experimental results demonstrate that the proposed method ensures the safe and stable operation of the platoon under various conditions,exhibiting robustness and smooth switching performance.

关 键 词：智能网联汽车队列 预期功能安全 状态估计 容错控制 

分 类 号：U461[机械工程—车辆工程]