论文标题
动态合作车辆排控件考虑纵向和改变车道的动态
Dynamic Cooperative Vehicle Platoon Control Considering Longitudinal and Lane-changing Dynamics
论文作者
论文摘要
本文提出了一个分布的级联比例积分衍生物（DCPID）控制算法，该算法考虑到惯性滞后的骑士的异质性，用于连接和自动化的车辆和自动化车辆（CAV）排。此外，开发了一个实时的动力学合作车道模型，可以无缝地结合DCPID算法和改进的正弦函数。 DCPID算法确定了考虑到目标车道（TFV）前车辆的速度波动的适当纵向加速度和速度的速度。同时，正弦函数计划了一个参考轨迹，该参考轨迹将使用模型预测控制（MPC）实时进一步更新，以避免潜在的碰撞，直到完成车道改变为止。 DCPID算法的局部和渐近稳定性条件都是数学得出的，并且在不同状态下分析了DCPID控制参数的灵敏度。进行了仿真实验以评估所提出的模型的性能，结果表明，即使在相对极端的初始状态下，DCPID算法也可以为跟踪和调整所有400个场景的所需间距和速度提供强大的控制。此外，提出的动态合作巷改变模型可以保证以不同的速度甚至在紧急情况下（例如TFV的突然减速）来保证有效且安全的车道改变。
This paper presents a distributed cascade Proportional Integral Derivate (DCPID) control algorithm for the connected and automated vehicle (CAV) platoon considering the heterogeneity of CAVs in terms of the inertial lag. Furthermore, a real-time dynamic cooperative lane-changing model for CAVs, which can seamlessly combine the DCPID algorithm and the improved sine function is developed. The DCPID algorithm determines the appropriate longitudinal acceleration and speed of the lane-changing vehicle considering the speed fluctuations of the front vehicle on the target lane (TFV). In the meantime, the sine function plans a reference trajectory which is further updated in real time using the model predictive control (MPC) to avoid potential collisions until lane-changing is completed. Both the local and the asymptotic stability conditions of the DCPID algorithm are mathematically derived, and the sensitivity of the DCPID control parameters under different states is analyzed. Simulation experiments are conducted to assess the performance of the proposed model and the results indicate that the DCPID algorithm can provide robust control for tracking and adjusting the desired spacing and velocity for all 400 scenarios, even in the relatively extreme initial state. Besides, the proposed dynamic cooperative lane-changing model can guarantee an effective and safe lane-changing with different speeds and even in emergency situations (such as the sudden deceleration of the TFV).
