网联车辆编队节油速度轨迹优化和分布式控制

Optimizing fuel-saving speed trajectory and distributed control for connected automatic vehicles platoon

中文关键词  节油速度  分布式轨迹优化  速度相关型间距策略  滑模控制  网联车辆编队  队列稳定性

英文关键词  fuel-saving velocity  distributed trajectory optimization  velocity dependent spacing strategy  sliding mode control  connected automated vehicle platoon  string stability

中文摘要

      本文研究了网联车辆编队的节油速度轨迹优化和分布式控制问题. 考虑异质车辆编队节油, 采用一种基于滚动时域优化的速度规划算法, 求解出适应于变化道路坡度的编队整体节油速度. 此外, 为了提高速度规划和调节的灵活性, 提出了一种基于期望编队速度的二次间距策略. 采用基于间距误差最小化的分布式凸优化算法对轨迹优化问题进行求解, 为所有跟随车提供最优轨迹. 在此基础上, 设计了一种具有双幂次趋近律的PID型滑模控制器, 使得各跟随车跟踪最优轨迹. 仿真结果表明, 该方法可在忽略空间和速度扰动的情况下保证车辆的内部稳定性和队列稳定性.

英文摘要

      In this paper, the fuel-saving speed trajectory optimization and the distributed control of connected automatic vehicle platoon are studied. Considering the fuel saving problem of heterogeneous connected automatic vehicles platoon, a receding horizon dynamic programming is adopted to solve the entire platoon’s fuel-saving speed adapted to the changing road slope. In addition, in order to improve the flexibility of speed planning and adjustment, a quadratic spacing strategy based on the expected platoon speed is proposed. The distributed convex optimization algorithm based on the minimization of spacing error is used to solve the trajectory optimization problem, providing the optimal trajectory for all following vehicles. On this basis, a PID sliding mode controller with dual power reaching law is derived to control the speed of each following vehicle. The simulation results show that this method can ensure the internal stability and string stability of the vehicle with negligible space and speed disturbances.