面向变工况的车辆队列非线性控制策略  

Longitudinal nonlinear control study of vehicular platoon

作　　者：罗勇[1,2] 李莉莎 张嘉璐 李豪 邱晓斌 张隆 LUO Yong;LI Lisha;ZHANG Jialu;LI Hao;QIU Xiaobin;ZHANG Long(Ministry of Education’s Key Laboratory of Advanced Manufacturing Technology of Automobile Parts,Chongqing University of Technology,Chongqing 400054,China;Ningbo Shenglong(Group)Co.,Ltd.,Technology Center,Ningbo 315199,China)

机构地区：[1]重庆理工大学汽车零部件先进制造技术教育部重点实验室,重庆400054 [2]宁波圣龙(集团)有限公司技术中心,浙江宁波315199

出　　处：《重庆理工大学学报（自然科学）》2024年第10期71-78,共8页Journal of Chongqing University of Technology：Natural Science

基　　金：重庆市技术创新与应用发展专项重大项目(CSTB2022TIAD-STX0005);重庆理工大学重大科研项目同步开展基础及应用基础研究(2022TBZ003)。

摘　　要：车辆队列间距控制策略能够影响车速稳定性和跟车间距,是降低队列能耗的关键,针对单一跟车间距策略无法满足间距控制问题,提出了一种双工况跟车间距控制策略。根据队列中每辆车空气动力特性,构建变空阻系数非线性车辆队列模型。将整个队列行驶工况分为匀速和变速工况,分别使用变时距和定时距跟车间距控制策略,变速时动态控制速度误差,匀速时控制每辆车最小能耗对应的跟车间距。在此基础上,设计兼容双工况跟车间距控制策略的非线性控制器,与单一定时距跟车策略进行仿真对比,仿真结果显示,非线性控制器速度误差平均降低25%,队列车辆油耗平均降低5.88%,验证了所提策略的有效性和可行性。The vehicle queue spacing control strategy,a key to reducing the energy consumption of a vehicle queue,can affect the speed stability and the following distance.As the single following distance strategy fails to meet the spacing control problem,this paper proposes a dual working condition following distance control strategy.First,according to the aerodynamic characteristics of each vehicle in a queue,a non-linear vehicle queue model with variable air resistance coefficient is built.Second,the whole queue is divided into uniform speed and variable speed conditions,and the following spacing control strategies are introduced for variable spacing and regular spacing respectively.On this basis,a nonlinear controller compatible with the two-working condition and shop distance control strategy is designed.Our simulation results show the average speed error of the nonlinear controller is reduced by 25%,and the fuel consumption of queuing vehicles is down by an average of 5.88%,demonstrating the validity and feasibility of strategy.

关 键 词：车辆队列 空阻系数 跟车间距策略 能量消耗 非线性控制器 

分 类 号：TH156[机械工程]