考虑通信延迟的智能车队纵向控制  

Longitudinal control of intelligent fleet considering communication delay

作　　者：王静[1] 雷利利[1] 熊晓夏 林威 WANG Jing;LEI Lili;XIONG Xiaoxia;LIN Wei(School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学汽车与交通工程学院,镇江212013

出　　处：《交通运输工程与信息学报》2024年第4期37-51,共15页Journal of Transportation Engineering and Information

基　　金：国家自然科学基金项目(52002154)。

摘　　要：针对智能车队纵向跟随控制中车辆之间信息传递存在的延迟问题,提出了一种通信延迟条件下运动状态估计与模型预测控制相结合的MSE-MPC(Motion State Estimation-Model Predictive Control)智能车辆队列纵向跟随控制方法。利用运动状态估计算法,对通信延迟情况下的前车状态信息进行估计,并将所预测的前车状态信息用于更新模型预测控制器的输入,决策出跟随车行驶所需的期望加速度,在保持合理的车间距情况下,实现车辆的加减速,使队列系统达到稳定。通过Simulink/Carsim联合仿真平台,在固定延迟和随机延迟两种不同延迟条件下对控制算法进行仿真验证,并与无延迟时MSE-MPC及有延迟时MPC算法的控制效果进行对比。仿真结果表明,MSE-MPC融合算法有效,对于延迟时长的变化不敏感,能够较好地抵抗通信延迟的影响,而且整体的控制效果较好,能够保证队列的稳定运行。This paper proposes motion state estimation-model predictive control(MSE-MPC)for intelligent vehicle queue control to address the delay problem in the transfer of information between vehicles during the longitudinal following control of an intelligent fleet.The proposed method combines an MSE algorithm with MPC,considering communication delays.The MSE algorithm estimates the state information of the preceding vehicle during communication delays.The model predictive controller then utilizes the estimated motion state value of the preceding vehicle to determine the desired acceleration of the following vehicle.Thus,a steady queuing system can be established by maintaining an appropriate following distance by accelerating and decelerating the vehicle.The control method is simulated and verified using the Simulink/Carsim joint simulation platform under two different delay conditions:fixed and random delays.Subsequently,the performance of the control algorithm is compared with that of the control effect of MSE-MPC without delay and MPC with delay.The simulation results indicate that the MSE-MPC algorithm is effective and insensitive to changes in the communication delay when the delay duration increases.The proposed algorithm can better resist the effect of communication delays,and the control effect is relatively good,ensuring stable driving of the queue.

关 键 词：智能交通 通信延迟 模型预测控制 运动状态估计 车辆编队 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U495[自动化与计算机技术—控制科学与工程]