基于延迟补偿的网联式自主驾驶车辆协同控制
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摘要
针对智能交通领域多车协同驾驶中存在的通信信息乱序、丢包问题,研究网联式自主驾驶车辆协同控制技术,建立基于零阶保持(Zero Order Hold,ZOH)信息处理机制的自主驾驶车队控制模型,通过非线性系统状态估计算法进行延迟补偿,使得车队控制模型在复杂汽车行驶环境下保持有效。通过构建由多辆实车组成的网联式自主驾驶车队,在封闭道路环境下进行协同驾驶编队测试,结合网络传输及传感器数据进行模型仿真,验证了模型在实车编队环境下的稳定性、有效性和实用性。
In view of the disordered and lost packets problems in intelligent transportation system, this paper studies the cooperative control technology of autonomous driving vehicle and proposes an autonomous platoon-driving model based on Zero Order Hold(ZOH) information processing mechanism.A dedicated nonlinear state estimation algorithm is used to compensate for the delay so the platoon-driving model remains valid under the complex vehicle driving environments. A real autonomous driving platoon is tested in a vehicle proving ground for cooperative driving. The analysis of the experimental data and simulation results based on the real networked autonomous driving system verified the stability, validity and practicability of the platoon-driving model.
In view of the disordered and lost packets problems in intelligent transportation system, this paper studies the cooperative control technology of autonomous driving vehicle and proposes an autonomous platoon-driving model based on Zero Order Hold(ZOH) information processing mechanism.A dedicated nonlinear state estimation algorithm is used to compensate for the delay so the platoon-driving model remains valid under the complex vehicle driving environments. A real autonomous driving platoon is tested in a vehicle proving ground for cooperative driving. The analysis of the experimental data and simulation results based on the real networked autonomous driving system verified the stability, validity and practicability of the platoon-driving model.
引文
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[21]Xiong J,Lam J.Stabilization of networked control systems with a logic ZOH[J].IEEE Transactions on Automatic Control(S0018-9286),2009,54(2):358-363.
[22]王文佳,孙睿智,高伟,等.基于通信延迟误差补偿的协同导航算法[J].火力与指挥控制,2014,39(12):27-30.Wang Wenjia,Sun Ruizhi,Gao Wei,et al.Cooperative navigation based on error compensation of communication delays[J].Fire Control&Command Control,2014,39(12):27-30.
[23]Gopalakrishnan A,Kaisare N S,Narasimhan S.Incorporating Delayed and Infrequent Measurements in Extended Kalman Filter Based Nonlinear State Estimation[J].Journal of Process Control(S0959-1524),2011,21(1):119-129.
[2]Ge J I,Orosz G.Dynamics of connected vehicle systems with delayed acceleration feedback[J].Transportation Research Part C:Emerging Technologies(S0968-090X),2014,46(1):46-64.
[3]Ghasemi A,Kazemi R,Azadi S.Stable Decentralized Control of a Platoon of Vehicles With Heterogeneous Information Feedback[J].IEEE Transactions on Vehicular Technology(S0018-9545),2013,62(9):4299-4308.
[4]Ploeg J,Van De Wouw N,Nijmeijer H.Lp String Stability of Cascaded Systems:Application to Vehicle Platooning[J].IEEE Transactions on Control Systems Technology(S1063-6536),2014,22(2):786-793.
[5]Tae Soo no,Chong K T,Roh D H.A Lyapunov function approach to longitudinal control of vehicles in a platoon[J].IEEE Transactions on Vehicular Technology(S0018-9545),2001,50(1):116-124.
[6]Lee G D,Kim S W.A longitudinal control system for a platoon of vehicles using a fuzzy-sliding mode algorithm[J].Mechatronics(S0957-4158),2002,12(1):97-118.
[7]王庞伟,黄玲,王云鹏,等.考虑通信延迟的车辆队列协同巡航控制算法[C]//深圳:中国智能运输大会,2013.Wang Pangwei,Huang Ling,Wang Yunpeng,et al.Vehicle platoon cooperative navigation control algorithm with communication delays[C]//Shenzhen:Intelligent Transportation System Conference China,2013.
[8]Emmons M R.Effects of communication delay and kinematic variation in vehicle platooning by[D].USA:Utah State University,2013.
[9]Xiao LingYun,Gao Feng.Effect of information delay on string stability of platoon of automated vehicles under typical information frameworks[J].Journal of Central South University(S1005-9784),2010,17(6):1271-1278.
[10]Oncu S,Van De Wouw N,Nijmeijer H.Cooperative adaptive cruise control:Tradeoffs between control and network specifications[C]//14th International IEEEConference on Intelligent Transportation Systems.USA:IEEE,2011,16(2259):2051-2056.
[11]Qin W B,Gomez M M,Orosz G.Stability analysis of connected cruise control with stochastic delays[C]//American Control Conference(ACC).USA:IEEE,2014:4624-4629.
[12]Fernandes P,Nunes U.Platooning with IVC-enabled autonomous vehicles:Strategies to mitigate communication delays,improve safety and traffic flow[J].IEEE Transactions on Intelligent Transportation Systems(S1524-9050),2012,13(1):91-106.
[13]Xu L,Wang L Y,Yin G,et al.Impact of package delivery rate on the safety of highway vehicle platoons[C]//Intelligent Vehicles Symposium Proceedings.USA:IEEE,2014:974-979.
[14]吴利刚,郭戈.基于SDP处理机制下的网络化车队控制研究[J].控制工程,2016,23(5):698-705.Wu Ligang,Guo Ge.Networked control of the platoon system based on SDP[J].Control Engineering of China,2016,23(5):698-705.
[15]Ghasemi A,Kazemi R,Azadi S.Stability analysis of a predecessor-following platoon of vehicles with two time delays[J].Promet-Traffic&Transportation(S0353-5320),2015,27(1):35-46.
[16]Peter S,Raja S.Analysis of communication losses in vehicle control problems[C]//Proceedings of American control Conference.USA:California,2001:1491-1496.
[17]Xiao L Y,Gao F.Effect of information delay on string stability of platoon of automated vehicles under typical information frameworks[J].Journal of Central South University(S1005-9784),2010,17(6):1271-1278.
[18]Li Yongfu,Li Kezhi,Cai Linqin,et al.Feedback-based platoon control for connected autonomous vehicles under different communication network topologies[C]//Proceedings of the 35th Chinese Control Conference.China:Chengdu,2016:8806-8811.
[19]Shladover S E.Dynamic entrainment of automated guide way transit vehicles[J].High Speed Ground Transport(S0018-1501),1978,12(3):87-113.
[20]J Dyn Sys,Meas.A System Level Study of Longitudinal Control of a Platoon of Vehicles[J].Journal of dynamic systems measurement and control(S0022-0434),1992,114(2):286-292.
[21]Xiong J,Lam J.Stabilization of networked control systems with a logic ZOH[J].IEEE Transactions on Automatic Control(S0018-9286),2009,54(2):358-363.
[22]王文佳,孙睿智,高伟,等.基于通信延迟误差补偿的协同导航算法[J].火力与指挥控制,2014,39(12):27-30.Wang Wenjia,Sun Ruizhi,Gao Wei,et al.Cooperative navigation based on error compensation of communication delays[J].Fire Control&Command Control,2014,39(12):27-30.
[23]Gopalakrishnan A,Kaisare N S,Narasimhan S.Incorporating Delayed and Infrequent Measurements in Extended Kalman Filter Based Nonlinear State Estimation[J].Journal of Process Control(S0959-1524),2011,21(1):119-129.