通信时延对自动驾驶车队稳定性的影响研究  

Analysis on the Effect of Communication Delay on String Stability of Automated Vehicles

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作  者:王旭 张春波 兰翔 王扬 WANG Xu;ZHANG Chunbo;LAN Xiang;WANG Yang(School of Traffic and Transportation,Shijiazhuang Tiedao University,Shijiazhuang 050043,China)

机构地区:[1]石家庄铁道大学交通运输学院,河北石家庄050043

出  处:《石家庄铁道大学学报(自然科学版)》2024年第4期77-83,共7页Journal of Shijiazhuang Tiedao University(Natural Science Edition)

基  金:河北省自然科学基金(E2024210032);中央引导地方科技发展资金项目(236Z0805G)。

摘  要:为研究通信时延对自动驾驶车队稳定性的影响规律,基于通信时延定义对自动驾驶车辆跟驰行为进行建模,以自动驾驶轨迹数据为依据,采用遗传算法对跟驰模型相关参数进行标定,开展通信时延单独变化、通信时延与其他模型参数联合变化2种情况下的车队稳定性数值仿真实验分析。结果表明,设计参数范围内,通信时延单独由0 s增加至0.5 s时,尾车的车队严格稳定性判定值由1.058增加至1.167,均不符合车队严格稳定性;通信时延与其他模型参数联合变化时,通信时延由0 s增加至0.5 s时,符合车队半严格稳定性的参数取值范围逐渐缩小,其中,期望速度取值范围由66.8%降至25.9%,固定时距取值范围由85.6%降至61.7%。To analyze the effect of communication delay on the string stability of automated vehicles,the following behavior of automated vehicles was modeled based on the definition of communication delay.Parameters of the following model were calibrated using genetic algorithm with trajectory data of automated vehicles.Numerical simulation experiments were carried out to analyze the string stability under two conditions:communication delay changes alone and communication delay changes jointly with other model parameters.The results show that within the range of design parameters,when the communication delay increases from 0 s to 0.5 s alone,the strict string stability judgment value of the last car increases from 1.058 to 1.167,which does not meet the strict string stability requirement.When the communication delay changes jointly with other model parameters,the range of parameters that meet the semi-strict string stability gradually shrinks when the communication delay increases from 0 s to 0.5 s,among which,the range of the expected speed decreases from 66.8%to 25.9%,and the range of the fixed time interval decreases from 85.6%to 61.7%.

关 键 词:通信时延 自动驾驶 车队稳定性 遗传算法 数值仿真 

分 类 号:U491[交通运输工程—交通运输规划与管理]

 

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