在连通环境中获取合并间隙的车辆排合作交互策略

Hongyu Hu, Ming Cheng, Zhengyi Li, Zixuan Wang, Sheng Jin, Zhenhai Gao, Chuanliang Shen
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引用次数: 0

摘要

车辆编队可以大大提高交通吞吐量,降低油耗和排放。在编队过程中,产生安全的并道间隙至关重要。这一过程需要适当的合作管理和控制策略。本研究提出了车辆排群的合作互动策略,包括通信管理系统和车辆控制策略。这些策略可以减少间隙产生过程中的速度波动,提高交通性能。首先,根据标准通信协议(SAE J2735)开发了排内通信管理系统,确保外部车辆能高效、有序地加入排内。其次,设计了采用前馈和反馈控制的协同自适应巡航控制系统(CACC)。此外,还考虑了间隙增大对车排稳定性的影响。引入了虚拟引导车(VGV)的协同控制策略,以切换跟随目标并线性改变控制器的距离输入。通过这种方式,引导下游车辆平滑地产生一个安全的汇合间隙,从而减少速度波动,确保车排的稳定性和安全性。最后,在仿真环境中测试了车辆编队的整个交互过程。结果表明,与参数自适应控制策略相比,排车的最大速度过冲减少了 56%,恢复稳定时间减少了 47%,车辆抖动减少了 43%。行车安全性和排车稳定性均未超出评估设定的控制范围。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A cooperative interaction strategy for vehicle platoons to obtain merging gaps in connected environments
Vehicle platoons can significantly improve traffic throughput and reduce fuel consumption and emissions. In the formation of platoons, it is crucial to generate safe merging gaps. This process requires appropriate cooperative management and control strategies. This study proposes a cooperative interaction strategy for vehicle platoons, including a communication management system and vehicle control strategies. These strategies can reduce velocity fluctuation in the process of gap generation and improve traffic performance. First, a communication management system within a platoon was developed, according to the standard communication protocol (SAE J2735), ensuring that external vehicles can join the platoon efficiently and orderly. Next, a cooperative adaptive cruise control (CACC) system was designed, which adopts feedforward and feedback control. Furthermore, the influence of increasing gaps on the stability of the platoon was considered. A cooperative control strategy for a virtual guiding vehicle (VGV) was introduced to switch the following target and linearly change the distance input of the controller. In this way, the downstream vehicles were guided to smoothly generate a safe merging gap, which can reduce speed fluctuation, and ensure the stability and safety of the platoon. Finally, the entire process of interaction in a vehicle platoon was tested in a simulation environment. The results showed that, compared with the parameter adaptive control strategy, the maximum velocity overshoot of the platoon vehicles was reduced by 56%, recovery stabilization time was reduced by 47%, and vehicle jitter was reduced by 43%. The driving security and platoon stability were both within the control boundaries set for evaluation.
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