高速公路卡车队列行驶非线性滚动优化控制
|
摘要
提出高速公路卡车队列行驶非线性滚动优化控制策略;采用双层控制器结构,上层控制器根据当前的道路及车辆状态信息决策出卡车队列最优燃油经济性速度曲线,下层控制器采用滚动优化方法对最优速度曲线进行跟踪,并保证卡车队列行驶时车间距离的安全性及有效性。为验证高速公路卡车队列行驶非线性滚动优化控制方法的有效性,选取多组不同路况及初始车速进行Trucksim-Simulink联合仿真,结果表明:本文方法在不同道路坡度及车速情况下均可有效跟踪期望最优速度,提高了跟随车辆的燃油经济性。
In this paper,nonlinear moving horizon control strategy is presented for truck platooning on highways.The bi-level control structure is adopted.The outer controller computes the optimized velocity,which satisfies the fuel economy,according to the current road and vehicle dynamics information.The inner controller follows the optimized velocity using moving horizon control approach and ensures the safety distance between trucks in the platooning.To verify the effectiveness of the proposed nonlinear moving horizon control approach,Trucksim-Simulink jointing simulations are carried out under various road conditions at different initial velocities.Results demonstrate that the optimized velocity can be followed well under different road conditions and velocities,and the proposed control approach can effectively improve fuel economy of following trucks.
In this paper,nonlinear moving horizon control strategy is presented for truck platooning on highways.The bi-level control structure is adopted.The outer controller computes the optimized velocity,which satisfies the fuel economy,according to the current road and vehicle dynamics information.The inner controller follows the optimized velocity using moving horizon control approach and ensures the safety distance between trucks in the platooning.To verify the effectiveness of the proposed nonlinear moving horizon control approach,Trucksim-Simulink jointing simulations are carried out under various road conditions at different initial velocities.Results demonstrate that the optimized velocity can be followed well under different road conditions and velocities,and the proposed control approach can effectively improve fuel economy of following trucks.
引文
[1]张军君.公路运输对区域经济发展的影响研究[D].北京:中国林业科学研究院农业推广专业,2014.Zhang Jun-jun.Local road transport impact on the regional economy development[D].Beijing:Chinese Academy of Forestry Agricultural Extension Speciality,2014.
[2]吴东风,褚军,张晶.道路运输节能减排形势分析[J].汽车维护与修理,2010(9):47-50.Wu Dong-feng,Chu Jun,Zhang Jing.Analysis of energy saving and emission reduction in road transportation[J].Auto Maintenance&Repair,2010(9):47-50.
[3]张兰怡,胡喜生,陈清耀,等.基于PCA-Logistic回归的汽车保有量预测研究[J].重庆交通大学学报:自然科学版,2017,36(5):104-109.Zhang Lan-yi,Hu Xi-sheng,Chen Qing-yao,et al.Prediction of car ownership based on principal component analysis and logistic regression[J].Journal of Chongqing Jiaotong University(Natural Science),2017,36(5):104-109.
[4]Alam A,Martensson J,Johansson K H.Look ahead cruise control for heavy duty vehicle platooning[C]∥International IEEE Conference on Intelligent Transportation Systems.Hague:IEEE,2013:928-935.
[5]傅立敏,吴允柱,贺宝琴.队列行驶车辆的空气动力特性[J].吉林大学学报:工学版,2006,36(6):871-875.Fu Li-min,Wu Yun-zhu,He Bao-qin.Aerodynamic characteristics of vehicle platoon[J].Journal of Jilin University(Engineering and Technology Edition),2006,36(6):871-875.
[6]贺宝琴,吴允柱,傅立敏.汽车外形对智能车辆队列行驶气动特性的影响[J].吉林大学学报:工学版,2008,38(1):7-11.He Bao-qin,Wu Yun-zhu,Fu Li-min.Influence of vehicle shape on the aerodynamic characteristics of intelligent vehicle platoon[J].Journal of Jilin University(Engineering and Technology Edition),2008,38(1):7-11.
[7]杨坤,李静,李幼德,等.电子机械制动系统在汽车自适应巡航控制中的应用[J].农业机械学报,2008,39(12):34-38.Yang Kun,Li Jing,Li You-de,et al.Application of electromechanical brake system in adaptive cruise control[J].Transactions of the Chinese Society for Agricultural Machinery,2008,39(12):34-38.
[8]Alam A,Gattami A,Johansson K H.An experimental study on the fuel reduction potential of heavy duty vehicle platooning[C]∥International IEEE Conference on Intelligent Transportation Systems,Madeira,2010:306-311.
[9]马育林,吴青,张蕊,等.模拟自治车队行驶过程变工况速度跟踪控制[J].吉林大学学报:工学版,2011,47(7):140-147.Ma Yu-lin,Wu Qing,Zhang Rui,et al.Speed tracking control for a simulated intelligent vehicle platoon under variable road conditions[J].Journal of Jilin University(Engineering and Technology Edition),2011,47(7):140-147.
[10]张晓东,姚小兰,李晖,等.车辆编队系统的多目标分布式控制[J].北京理工大学学报,2011,31(3):294-298.Zhang Xiao-dong,Yao Xiao-lan,Li Hui,et al.Multi-object distributed control of vehicle platoon system[J].Transactions of Beijing Institute of Technology,2011,31(3):294-298.
[11]Dunbar W B,Caveney D S.Distributed receding horizon control of vehicle platoons:stability and string stability[J].IEEE Transactions on Automatic Control,2012,57(3):620-633.
[12]Hu X S,Wang H,Tang X L.Cyber-physical control for energy-saving vehicle following with connectivity[J].IEEE Transactions on Industrial Electronics,2017,64(11):8578-8587.
[13]Guo H Y,Liu F,Yu R,et al.Regional path moving horizon tracking controller design for autonomous ground vehicles[J].Science China Information Sciences,2017,60(1):1-7.
[14]Guo H Y,Liu J,Cao D P,et al.Dual-envelop-oriented moving horizon path tracking control for fully automated vehicles[J].Mechatronics,2018,50:422-433.
[15]Guo H Y,Liu F,Xu F,et al.Nonlinear model predictive lateral stability control of active chassis for intelligent vehicles and its FPGA implementation[J].IEEE Transactions on Systems, Man,and Cybernetics:Systems,2017,49(1):2-13.
[16]Maxim A,Caruntu C F,Lazar C.Distributed model predictive control algorithm for vehicle platooning[C]∥System Theory,Control and Computing.Sinaia:ICSTCC,2016:657-662.
[17]Dunbar W B,Murray R M.Model predictive control of coordinated multi-vehicle formations[C]∥IEEE International Conference on Decision and Control,Las Vegas,2002:4631-4636.
[18]Rocha F H M D,Grassi V,Guizilini V C,et al.Model predictive control of a heavy-duty truck based on gaussian process[C]∥Latin American Robotics Symposium,Brazil,2016:97-102.
[19]Zheng Y,Li S B,Li K Q,et al.Distributed model predictive control for heterogeneous vehicle platoons under unidirectional topologies[J].IEEE Transactions on Control System Technology,2017,25(3):899-909.
[20]Tsugawa S,Kato S,Aoki K.An automated truck platoon for energy saving[C]∥Intelligent Robots and Systems,San Francisco,2011:4109-4114.
[21]Robinson T,Coelingh E.Operating platoons on public motorways:an introduction to the SARTRE platooning programme[C]∥Proceedings of the 17th ITS World Congress,Busan,Korea,2010:415-426.
[22] WHucho A,Sovran G.Aerodynamics of road vehicles[J].Annual Review of Fluid Mechanics,1987,25(1):485-537.
[2]吴东风,褚军,张晶.道路运输节能减排形势分析[J].汽车维护与修理,2010(9):47-50.Wu Dong-feng,Chu Jun,Zhang Jing.Analysis of energy saving and emission reduction in road transportation[J].Auto Maintenance&Repair,2010(9):47-50.
[3]张兰怡,胡喜生,陈清耀,等.基于PCA-Logistic回归的汽车保有量预测研究[J].重庆交通大学学报:自然科学版,2017,36(5):104-109.Zhang Lan-yi,Hu Xi-sheng,Chen Qing-yao,et al.Prediction of car ownership based on principal component analysis and logistic regression[J].Journal of Chongqing Jiaotong University(Natural Science),2017,36(5):104-109.
[4]Alam A,Martensson J,Johansson K H.Look ahead cruise control for heavy duty vehicle platooning[C]∥International IEEE Conference on Intelligent Transportation Systems.Hague:IEEE,2013:928-935.
[5]傅立敏,吴允柱,贺宝琴.队列行驶车辆的空气动力特性[J].吉林大学学报:工学版,2006,36(6):871-875.Fu Li-min,Wu Yun-zhu,He Bao-qin.Aerodynamic characteristics of vehicle platoon[J].Journal of Jilin University(Engineering and Technology Edition),2006,36(6):871-875.
[6]贺宝琴,吴允柱,傅立敏.汽车外形对智能车辆队列行驶气动特性的影响[J].吉林大学学报:工学版,2008,38(1):7-11.He Bao-qin,Wu Yun-zhu,Fu Li-min.Influence of vehicle shape on the aerodynamic characteristics of intelligent vehicle platoon[J].Journal of Jilin University(Engineering and Technology Edition),2008,38(1):7-11.
[7]杨坤,李静,李幼德,等.电子机械制动系统在汽车自适应巡航控制中的应用[J].农业机械学报,2008,39(12):34-38.Yang Kun,Li Jing,Li You-de,et al.Application of electromechanical brake system in adaptive cruise control[J].Transactions of the Chinese Society for Agricultural Machinery,2008,39(12):34-38.
[8]Alam A,Gattami A,Johansson K H.An experimental study on the fuel reduction potential of heavy duty vehicle platooning[C]∥International IEEE Conference on Intelligent Transportation Systems,Madeira,2010:306-311.
[9]马育林,吴青,张蕊,等.模拟自治车队行驶过程变工况速度跟踪控制[J].吉林大学学报:工学版,2011,47(7):140-147.Ma Yu-lin,Wu Qing,Zhang Rui,et al.Speed tracking control for a simulated intelligent vehicle platoon under variable road conditions[J].Journal of Jilin University(Engineering and Technology Edition),2011,47(7):140-147.
[10]张晓东,姚小兰,李晖,等.车辆编队系统的多目标分布式控制[J].北京理工大学学报,2011,31(3):294-298.Zhang Xiao-dong,Yao Xiao-lan,Li Hui,et al.Multi-object distributed control of vehicle platoon system[J].Transactions of Beijing Institute of Technology,2011,31(3):294-298.
[11]Dunbar W B,Caveney D S.Distributed receding horizon control of vehicle platoons:stability and string stability[J].IEEE Transactions on Automatic Control,2012,57(3):620-633.
[12]Hu X S,Wang H,Tang X L.Cyber-physical control for energy-saving vehicle following with connectivity[J].IEEE Transactions on Industrial Electronics,2017,64(11):8578-8587.
[13]Guo H Y,Liu F,Yu R,et al.Regional path moving horizon tracking controller design for autonomous ground vehicles[J].Science China Information Sciences,2017,60(1):1-7.
[14]Guo H Y,Liu J,Cao D P,et al.Dual-envelop-oriented moving horizon path tracking control for fully automated vehicles[J].Mechatronics,2018,50:422-433.
[15]Guo H Y,Liu F,Xu F,et al.Nonlinear model predictive lateral stability control of active chassis for intelligent vehicles and its FPGA implementation[J].IEEE Transactions on Systems, Man,and Cybernetics:Systems,2017,49(1):2-13.
[16]Maxim A,Caruntu C F,Lazar C.Distributed model predictive control algorithm for vehicle platooning[C]∥System Theory,Control and Computing.Sinaia:ICSTCC,2016:657-662.
[17]Dunbar W B,Murray R M.Model predictive control of coordinated multi-vehicle formations[C]∥IEEE International Conference on Decision and Control,Las Vegas,2002:4631-4636.
[18]Rocha F H M D,Grassi V,Guizilini V C,et al.Model predictive control of a heavy-duty truck based on gaussian process[C]∥Latin American Robotics Symposium,Brazil,2016:97-102.
[19]Zheng Y,Li S B,Li K Q,et al.Distributed model predictive control for heterogeneous vehicle platoons under unidirectional topologies[J].IEEE Transactions on Control System Technology,2017,25(3):899-909.
[20]Tsugawa S,Kato S,Aoki K.An automated truck platoon for energy saving[C]∥Intelligent Robots and Systems,San Francisco,2011:4109-4114.
[21]Robinson T,Coelingh E.Operating platoons on public motorways:an introduction to the SARTRE platooning programme[C]∥Proceedings of the 17th ITS World Congress,Busan,Korea,2010:415-426.
[22] WHucho A,Sovran G.Aerodynamics of road vehicles[J].Annual Review of Fluid Mechanics,1987,25(1):485-537.