利用改进的 CACC 模型对互联自动卡车排控制进行多目标优化

IF 2.8 3区 物理与天体物理 Q2 PHYSICS, MULTIDISCIPLINARY
Kexin Wang , Xiang Wang , Wenjuan E , Mingdi Fan , Jiaxin Tong
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引用次数: 0

摘要

互联和自动驾驶卡车排(CATP)是指一组卡车以最小间距紧密行驶,以提高燃油经济性和安全性。然而,由于排的内部因素和外部交通干扰造成的不稳定性,带来了挑战。本研究提出了一种为 CATP 量身定制的改进型协同自适应巡航控制(CACC)模型,以应对这些挑战。该模型旨在提高安全性、燃油效率和交通效率。所提模型的改进体现在两个方面:时间间隔策略的优化和基于多目标的控制器动态参数调整。动态安全要求时间车距(DSRTH)策略有助于及时发现排头车辆的加速度,从而实现快速驾驶响应。此外,模型预测控制(MPC)可对比例-衍生(PD)控制参数进行动态校准,并发出速度指令。同时,还整合了二阶时延响应模型,以适应指令的动态变化。建立了传递函数,并证明了其稳定性。为了评估模型的性能,使用真实车辆轨迹作为 CATP 跟踪车辆进行了仿真分析。结果表明,DSRTH 策略优于定时车距(CTH)和变时车距(VTH)策略,可使后方车辆提前到达速度低谷,响应速度分别提高了 3.1% 和 1.5%。与智能驾驶员模型(IDM)和 CACC 模型相比,改进后的 CACC 模型能更快达到恒定加速的稳定状态,恢复时间分别缩短了 17.7% 和 3.2%。此外,与 IDM 模型相比,改进后的 CACC 模型可节省 3.23% 的燃油消耗。此外,敏感性分析表明,随着 CATP 比例和排数的增加,会对交通流量产生积极影响。但是,当排数超过 5 辆车时,除了 CATP 中的车辆外,交通流中其他车辆的稳定性也会受到负面影响。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Multi-objective optimization for connected and automated truck platoon control with improved CACC model
Connected and Automated Truck Platoon (CATP) refers to a group of trucks traveling closely together with minimal spacing to improve fuel economy and safety. However, challenges arise from instability due to internal platoon factors and external traffic disturbances. This research presents an improved Cooperative Adaptive Cruise Control (CACC) model tailored for CATP to address these challenges. The model is designed to enhance safety, fuel efficiency, and traffic efficacy. The improvements of the proposed model are in two aspects: the optimizing of the time headway strategy and the dynamic parameter adjustments of controller based on multi-objectives. The Dynamic Safety Requirement Time Headway (DSRTH) strategy facilitates the timely detection of the accelerations of the leading vehicles within the platoon, enabling quick driving responses. Additionally, Model Predictive Control (MPC) enables dynamic calibration of Proportional-Derivative (PD) control parameters and issuance of velocity commands. Meanwhile, the integration of a second-order time-delay response model has been implemented to adapt to dynamic changes in commands. A transfer function has been established, and stability has been proven. To evaluate the model performance, simulation analysis was performed using real vehicle trajectories as the CATP following vehicles. The results indicate that the DSRTH strategy outperforms both the Constant Time Headway (CTH) and Variable Time Headway (VTH) strategies, allowing rear vehicles to reach the speed trough earlier, with response speeds improved by 3.1 % and 1.5 %, respectively. Compared to the Intelligent Driver Model (IDM) and CACC models, the improved CACC model achieves a steady state of constant acceleration sooner, with recovery times reduced by 17.7 % and 3.2 %. Additionally, compared to the IDM model, the improved CACC model can save 3.23 % in fuel consumption. Furthermore, sensitivity analysis indicates that as the CATP proportion and platoon size increase, there is a positive impact on traffic flow. However, when the platoon size exceeds 5 vehicles, it shows a negative impact on the stability of other vehicles in the traffic flow besides those in the CATP.
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来源期刊
CiteScore
7.20
自引率
9.10%
发文量
852
审稿时长
6.6 months
期刊介绍: Physica A: Statistical Mechanics and its Applications Recognized by the European Physical Society Physica A publishes research in the field of statistical mechanics and its applications. Statistical mechanics sets out to explain the behaviour of macroscopic systems by studying the statistical properties of their microscopic constituents. Applications of the techniques of statistical mechanics are widespread, and include: applications to physical systems such as solids, liquids and gases; applications to chemical and biological systems (colloids, interfaces, complex fluids, polymers and biopolymers, cell physics); and other interdisciplinary applications to for instance biological, economical and sociological systems.
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