极限操纵工况下CACC汽车队列的非线性动力学特性  

Nonlinear Dynamic Characteristics of the CACC Vehicular Platoon Under Critical Maneuvering Conditions

作　　者：吴相稷 杨秀建 陈峥[2] 王申义[1] WU Xiang-ji;YANG Xiu-jian;CHEN Zheng;WANG Shen-yi(Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,Yunnan,China;Faculty of Transportation Engineering,Kunming University of Science and Technology,Kunming 650500,Yunnan,China)

机构地区：[1]昆明理工大学机电工程学院,云南昆明650500 [2]昆明理工大学交通工程学院,云南昆明650500

出　　处：《中国公路学报》2024年第9期301-311,共11页China Journal of Highway and Transport

基　　金：国家自然科学基金项目(52162046)。

摘　　要：目前汽车队列控制研究中对车辆轮胎力附着极限操纵工况考虑较少,相应的队列控制策略可能无法满足低附着、高速近距跟驰等极限工况下队列的安全稳定行驶。因此,针对探讨较多且应用前景较好的协同自适应巡航控制(Cooperative Adaptive Cruise Control, CACC)汽车队列,研究轮胎力附着极限操纵工况下的CACC队列系统的非线性动力学特性,旨在为极限操纵工况下CACC汽车队列的控制策略设计提供理论依据。考虑轮胎力的非线性饱和特性,建立了队列-个体车辆一体化非线性动力学系统,基于控制增益参数空间分析研究了极限工况下队列的平衡点稳定性和头-尾弦稳定性特性。结果表明:极限工况下队列稳定性增益参数设计范围非常有限,在自适应巡航控制(Adaptive Cruise Control, ACC)队列的基础上增加对领航车的跟驰控制后变为CACC队列,会导致平衡点稳定性增益参数设计范围变小,但是可以大大增加头-尾弦稳定性的增益参数设计范围;极限工况下弦稳定性比平衡点稳定性的要求更为苛刻,弦稳定性的增益参数空间要显著小于平衡点稳定性的参数空间;与ACC队列相比,CACC队列对极限工况下车速、路面附着等变化在保持队列稳定性方面体现出了更强的适应能力和抗扰能力,具有显著优势。In vehicular platoon control research,there is currently little consideration of maneuvering conditions under which the tire force approaches the adhesion limit.Thus,the corresponding platoon control strategy may not be able to meet the safety and stability requirements of the platoon under extreme conditions,such as low adhesion and high-speed close-range following.Therefore,this study aims to explore the nonlinear dynamic characteristics of the cooperative adaptive cruise control(CACC)platoon system,which has good application prospects and is widely discussed in the literature,under tire force adhesion limit maneuvering conditions to provide a theoretical basis for the design of control strategies of the CACC platoon under critical maneuvering conditions.Considering the nonlinear saturation characteristics of the tire force,an integrated platoon-vehicle nonlinear dynamic system is established.Based on the parameter space analysis of control gains,the equilibrium stability and head-to-tail string stability characteristics of the platoon under extreme conditions are studied.The results show that the stability design range of control gains for a platoon under extreme conditions is limited.Based on the adaptive cruise control(ACC)platoon,adding the following control of the leading vehicle to become a CACC platoon results in a smaller stability design range of control gains for equilibrium stability,but it can greatly increase the design range for head-to-tail string stability.The string stability requirement is more stringent than is the equilibrium stability requirement under extreme conditions,and the parameter space for string stability is significantly smaller than that for equilibrium stability.Compared with the ACC platoon,the CACC platoon has strong adaptability and disturbance resistance to the variations of vehicle speed and road adhesion under extreme conditions.Hence,it presents obvious advantages.

关 键 词：汽车工程 汽车队列 协同自适应巡航控制 非线性动力学 稳定性分析 队列控制 

分 类 号：U461.1[机械工程—车辆工程]