节能型异质汽车队列的切换式有界稳定控制
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摘要
车辆的队列化行驶具有降低道路交通能耗的巨大潜力。现有节能型队列研究主要通过高速近距跟车以减小后方车辆的风阻从而提高经济性,但对车间距离的控制精度要求很高。为克服该方法的不足,该文提出了一种适用于异质汽车队列的切换式节能控制方法,通过将周期性切换控制策略(即加速-滑行策略)应用于车辆队列,实现多车之间的协同节能。所设计的控制方法可使该汽车队列在保证跟车间距有界的前提下实现优异的节油效果,克服了近距跟车的安全性隐患。仿真结果表明:队列车辆都保持在期望的跟车间距范围内,且与线性二次型(linear quadratic,LQ)最优控制器相比,达到约23.3%的节油效果。
The platooning of automated vehicles can greatly improve the fuel efficiency of road transportation.Current studies will reduce fuel consumption by using very short car-following distances to reduce the aerodynamic drag on the following vehicles, which increases rear-end collision risks.This paper presents a periodic control method,pulse and glide(PnG)operation,for heterogeneous vehicle platoons to minimize the overall fuel consumption.The switching control method controls each vehicle to maintain the given the inter-vehicle distance while reducing the fuel consumption.Simulations show that this controller can maintain the inter-vehicle distance within a bounded range and reduce fuel consumption by up to 23.3% compared to linear quadratic(LQ)controllers.
The platooning of automated vehicles can greatly improve the fuel efficiency of road transportation.Current studies will reduce fuel consumption by using very short car-following distances to reduce the aerodynamic drag on the following vehicles, which increases rear-end collision risks.This paper presents a periodic control method,pulse and glide(PnG)operation,for heterogeneous vehicle platoons to minimize the overall fuel consumption.The switching control method controls each vehicle to maintain the given the inter-vehicle distance while reducing the fuel consumption.Simulations show that this controller can maintain the inter-vehicle distance within a bounded range and reduce fuel consumption by up to 23.3% compared to linear quadratic(LQ)controllers.
引文
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[3]BARKENBUS J N.Eco-driving:An overlooked climate change initiative[J].Energy Policy,2010,38(2):762-769.
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[5]LI S B,PENG H.Strategies to minimize the fuel consumption of passenger cars during car-following scenarios[J].Proceedings of the Institution of Mechanical Engineers,Part D:Journal of Automobile Engineering,2011,226(3):419-429.
[6]LI S B,HU X S,LI K Q,et al.Mechanism of vehicular periodic operation for optimal fuel economy in free-driving scenarios[J].IET Intelligent Transport Systems,2015,9(3):306-313.
[7]LI S B,PENG H,LI K Q,et al.Minimum fuel control strategy in automated car-following scenarios[J].IEEE Transactions on Vehicular Technology,2012,61(3):998-1007.
[8]LEE J,NELSON D,LOHSE-BUSCH H.Vehicle inertia impact on fuel consumption of conventional and hybrid electric vehicles using acceleration and coast driving strategy[R].SAE International No:2009-01-1322,2009.
[9]LI S B,GUO Q Q,XIN L,et al.Fuel-saving servo-loop control for an adaptive cruise control cystem of road vehicles with step-gear transmission[J].IEEE Transactions on Vehicular Technology,2017,66(3):2033-2043.
[10]XU S B,LI S B,ZHANG X W,et al.Fuel-optimal cruising strategy for road vehicles with step-gear mechanical transmission[J].IEEE Transactions on Intelligent Transportation Systems,2015,16(6):3496-3507.
[11]XU S B,LI S B,PENG H,et al.Fuel-saving cruising strategies for parallel HEVs[J].IEEE Transactions on Vehicular Technology,2016,65(6):4676-4686.
[12]AL ALAM A,GATTAMI A,JOHANSSON K H.An experimental study on the fuel reduction potential of heavy duty vehicle platooning[C]//Proceedings of the 13th International IEEE Conference on Intelligent Transportation Systems.Funchal,Portugal:IEEE,2010.
[13]BHLER L.Fuel-efficient platooning of heavy duty vehicles through road topography preview information[D].Stockholm,Sweden:KTH Royal Institute of Technology,2013.
[14]ALAM A.Fuel-efficient distributed control for heavy duty vehicle platooning[D].Stockholm,Sweden:KTH Royal Institute of Technology,2011.
[15]TSUGAWA S,KATO S,AOKI K.An automated truck platoon for energy saving[C]//Proceedings of 2011IEEE/RSJ International Conference on Intelligent Robots and Systems 2011(CD-ROM).San Francisco,CA,USA:IEEE,2011.
[16]RAJAMANI R,TAN H S,LAW B K,et al.Demonstration of integrated longitudinal and lateral control for the operation of automated vehicles in platoons[J].IEEE Transactions on Control Systems Technology,2000,8(4):695-708.
[17]LI S B,LI R J,WANG J Q,et al.Stabilizing periodic control of automated vehicle platoon with minimized fuel consumption[J].IEEE Transactions on Transportation Electrification,2017,3(1):259-271.
[18]IOANNOU P A,CHIEN C C.Autonomous intelligent cruise control[J].IEEE Transactions on Vehicular Technology,1993,42(4):657-672.
[19]RAJAMANI R.Vehicle dynamics and control[M].Boston,MA:Springer Science&Business Media,2012.
[20]LIN T W,HWANG S L,GREEN P A.Effects of time-gap settings of adaptive cruise control(ACC)on driving performance and subjective acceptance in a bus driving simulator[J].Safety Science,2009,47(5):620-625.
[21]ZHOU J,PENG H.Range policy of adaptive cruise control vehicles for improved flow stability and string stability[J].IEEE Transactions on Intelligent Transportation Systems,2005,6(2):229-237.