前车切入与切出工况下匀质队列速度规划与跟随控制  

Homogeneous platoon speed planning and following control in front vehicle cut-in and cut-out conditions

作　　者：杨炜[1] 孙雪 司宇 韩毅[1] 蔡尧 YANG Wei;SUN Xue;SI Yu;HAN Yi;CAI Yao(School of Automobile,Chang'an University,Xi'an 710064,Shaanxi,China;Automotive Engineering Research Institute,Guangzhou Automobile Group Co.,Ltd.,Guangzhou 511434,Guangdong,China;Uisee Technology(Beijing)Co.,Ltd.,Beijing 102400,China)

机构地区：[1]长安大学汽车学院,陕西西安710064 [2]广州汽车集团股份有限公司汽车工程研究院,广东广州511434 [3]驭势科技(北京)有限公司,北京102400

出　　处：《交通运输工程学报》2024年第6期243-258,共16页Journal of Traffic and Transportation Engineering

基　　金：国家重点研发计划(2021YFE0203600);陕西省自然科学基金项目(2017JQ6045)。

摘　　要：针对匀质队列定速巡航时前车切入切出可能导致碰撞风险以及跟随控制效率低、稳定性差的问题,提出一种前车切入与切出工况下匀质队列速度规划与跟随控制模型,基于卷积神经网络-门控循环单元(CNN-GRU)混合网络建立轨迹预测模型,以预测未来一段时域内的前车换道轨迹;通过构建纵向位移与时间的关系,确定了前车的切入或切出状态,搭建了跟随车速度跟随模型,并进行了队列整体速度规划;建立了模糊线性上层控制器,根据车速差输出符合驾驶场景需求的期望加速度;结合纵向逆动力学模型和模糊比例-积分-微分(PID)控制建立了下层控制器,将期望加速度转化为驱动转矩或制动压力,从而直接控制车辆;为进一步验证提出的控制模型的有效性,搭建了PreScan/CarSIM/SIMULINK联合仿真平台,设计了相邻前车切入和切出时的仿真工况,并将提出的控制模型与自适应巡航控制(ACC)方案进行了对比。研究结果表明:应用提出的控制模型后,所有信息流拓扑结构队列中均未出现追尾现象,且最大间距误差、全局平均速度跟踪误差和局部平均速度跟踪误差分别至少降低了55.9%、40.6%和42.0%。由此可见,提出的控制模型在前车切入与切出工况下不仅能避免潜在的追尾事故,而且可以有效缩短队列车辆间的最大间距,减小队列的速度跟踪误差,有利于提升队列的跟随效率和行驶稳定性。To solve the problems that the front vehicle cut-in and cut-out may lead to a collision risk,as well as the low efficiency and poor stability of following control during constant speed cruise of the homogeneous platoon,a homogeneous platoon speed planning and following control model in front vehicle cut-in and cut-out conditions was proposed.Based on the convolutional neural network-gated recurrent unit(CNN-GRU)hybrid network,a trajectory prediction model was established to predict the lane change trajectory of front vehicle within a future time domain.By constructing the relationship between longitudinal displacement and time,the front vehicle cut-in or cut-out state was determined.The speed following model of following vehicles was built,and the overall speed planning of the platoon was carried out.A fuzzy linear upper controller was established to output the desired acceleration according to the speed difference meeting the driving scenario requirements.Combining the longitudinal inverse dynamics model and fuzzy proportional integral derivative(PID)control,a lower controller was established to convert the desired acceleration into the driving torque or braking pressure.Thus,the direct control of the vehicle was achieved.To further verify the effectiveness of the proposed control model,a PreScan/CarSIM/SIMULINK co-simulation platform was built,simulation conditions for the adjacent front vehicle cut-in and cut-out were designed,and the proposed control model was compared with the adaptive cruise control(ACC)scheme.Research results show that after applying the proposed control model,no rear-end coallision occurs in platoons for all information flow topologies,and the maximum spacing difference,global average speed tracking error and local average speed tracking error reduce at least 55.9%,40.6%and 42.0%,respectively.Therefore,the proposed control model can not only avoid potential rear-end collisions in front vehicle cut-in and cut-out conditions,but also can effectively shorten the maximum gap between platoon v

关 键 词：交通控制 匀质队列 速度规划 换道轨迹预测 车辆跟随 分层控制 

分 类 号：U495[交通运输工程—交通运输规划与管理]