车队协同驾驶混成控制研究现状与展望
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摘要
车队协同驾驶是车路协同技术在智能交通领域中的重要应用与示范。混成动态系统理论与半实物仿真技术已成为研究车队协同驾驶系统的重要手段。阐述了车队协同驾驶在智能车路系统中应用的可行性和优点;对近十年车队协同驾驶研究进行了回顾和综述,包括系统结构、车车通信、车队协作策略以及半实物仿真技术等4个方面;概括了车队协同驾驶混成控制系统内容与仿真手段,并给出车队协同驾驶半实物仿真结果;对车队协同驾驶混成控制研究进行了总结和展望。
Cooperative driving for vehicle platoons is one of the crucial applications to vehicle infrastructure integration in intelligent vehicle-highway systems(IVHS). It is very important to use both hybrid control theory and hardware-in-the-loop simulation to study the cooperative driving system. First, the feasibility and advantages of cooperative driving applications in IVHS are introduced; next, studies on cooperative driving in the past 10 years are reviewed in detail, including system architecture, vehicle to vehicle communications(V2V), cooperative driving maneuvers and the hardware-in-the-loop simulation; then, the content of the vehicle-platoon hybrid control system is summarized and simulation results of the cooperative maneuvers are given by using the hardware-in-the-loop simulator; finally, present issues and future trends for practical use are explored.
Cooperative driving for vehicle platoons is one of the crucial applications to vehicle infrastructure integration in intelligent vehicle-highway systems(IVHS). It is very important to use both hybrid control theory and hardware-in-the-loop simulation to study the cooperative driving system. First, the feasibility and advantages of cooperative driving applications in IVHS are introduced; next, studies on cooperative driving in the past 10 years are reviewed in detail, including system architecture, vehicle to vehicle communications(V2V), cooperative driving maneuvers and the hardware-in-the-loop simulation; then, the content of the vehicle-platoon hybrid control system is summarized and simulation results of the cooperative maneuvers are given by using the hardware-in-the-loop simulator; finally, present issues and future trends for practical use are explored.
引文
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[16]ALAIN G.A Hybrid Controller for Autonomous VehiclesDriving on Automated Highways[J].Transportation Research Part C:Emerging Technologies,2004,12(6):421-452.
[17]GIRARD A P,SPRY S,HEDRICK,J K.Intelligent Cruise Control Applications:Real-Time Embedded Hybrid Control Software[J].IEEE Robotics&Automation Magazine,2005,12(1):22-28.
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[21]TSUGAWA S.Inter-Vehicle Communications and Their Applications to Intelligent Vehicles:An Overview[C].Proceedings of IEEE Intelligent Vehicles Symposium,Jun.17-21,2002:564-569.
[22]TATCHIKOU R,BISWAS S,DION F.Cooperative Vehicle Collision Avoidance Using Inter-Vehicle Packet Forwarding[C].Global Telecommunications Conference,2005.GLOBECOM'05,IEEE,St.Louis,MO,Dec.2-2,2005:2762-2766.
[23]WOLTERINK W K,HEIJENK G,KARAGIANNIS G.Constrained Geocast to Support Cooperative Adaptive Cruise Control(CACC)Merging[C].Proceedings of Vehicular Networking Conference,Dec.13-15,2010:41-48.
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[27]HE J H,CHEN,H H,CHEN T M,et al.Adaptive Congestion Control for DSRC Vehicle Networks[J].IEEE Communications Letters,2010,14(2):6-13.
[28]GRAU G P,PUSCEDDU D,REA S,et al.Vehicleto-vehicle Communication Channel Evaluation Using the CVIS Platform[C].7th International Symposium on Communication Systems Networks and Digital Signal Processing,Jul.21-23,2010:449-453.
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[32]吴青,何智伟,初秀民,等.智能车路系统中汽车列队行驶控制关键技术与研究进展[J].交通信息与安全,2008,26(4):154-157.Wu Qing,He Zhiwei,Chu Xiuming,et al.Key Technologies Research Development of Vehicle Platoon Drive Control in Intelligent Vehicle-Infrastructure System[J].Journal of Transport Information and Safety,2008,26(4):154-157.(in Chinese)
[33]LI P,ALVAREZ L,HOROWITZ R.AHS Safe Control Laws for Platoon Leaders[J].IEEE Transactions on Control Systems Technology,1997,5(6):614-628.
[34]TANNER H G,PAPPAS GJ,KUMAR V.Leader-toFormation Stability[J].IEEE Transactions on Robotics and Automation,2004,20(3):443-454.
[35]RAJAMANI R,SHLADOVER S E.An Experimental Comparative Study of Autonomous and Co-operative Vehicle-Follower Control Systems[J].Transportation Research Part C:Emerging Technologies,2001,9(1):15-31.
[36]FAX J A,MURRAY R M.Information Flow and Cooperative Control of Vehicle Formations[J].IEEE Transactions on Automatic Control,2004,49(9):1465-1476.
[37]PAN Y J.Decentralized Robust Control Approach for Coordinated Maneuvering of Vehicles in Platoons[J].IEEE Transactions on Intelligent Transportation Systems,2009,10(2):346-354.
[38]NARANJO J E,GONZALEZ C,GARCIA R,et al.Lane-Change Fuzzy Control in Autonomous Vehicles for the Overtaking Maneuver[J].IEEE Transactions on Intelligent Transportation Systems,2008,9(3):438-450.
[39]AMMOUN S,NASHASHIBI F,LAURGEAU C.An Analysis of the Lane Changing Manoeuvre on Roads:the Contribution of Inter-Vehicle Cooperation via Communication[C].Proceedings of IEEE Intelligent Vehicles Symposium,Istanbul,Turkey,June 13-15,2007:1095-1110.
[40]XU Q,SENGUPTA R.Simulation,Analysis,and Comparison of ACC and CACC in Highway Merging Control[C].Proceedings of IEEE Intelligent Vehicles Symposium,Jun.9-11,2003:237-242.
[41]VALDES F,ESPINOSA F,AWAWDEH A M H,et al.Routes for Splitting and Merging Maneuvers of Platoon Followers in Urban Environments[C].IEEE International Conference on Emerging Technologies and Factory Automation,Sept.20-22,2006:1153-1156.
[42]HALL R,CHIN C.Vehicle Sorting for Platoon Formation:Impacts on Highway Entry and Throughput[J].Transportation Research Part C:Emerging Technologies,2005,13(5-6):405-420.
[43]ALVAREZ L,HOROWITZ R,TOY C V.MultiDestination Traffic Flow Control in Automated Highway Systems[J].Transportation Research Part C:Emerging Technologies,2003,11(1):1-28.
[44]DAO T S,CLARK C M,HUISSOON J P.Distributed Platoon Assignment and Lane Selection for Traffic Flow Optimization[C].Proceedings of IEEE Intelligent Vehicles Symposium,Eindhoven,Netherlands,June 4-6,2008:739-744.
[45]XAVIER P,PAN Y J.A Practical PID-Based Scheme for the Collaborative Driving of Automated Vehicles[C].Proceedings of Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference,Shanghai,China,Dec.16-18,2009:966-971.
[46]KHAISONGKRAM W,HARA S.Performance Analysis of Decentralized Cooperative Driving Under Nonsymmetric Bidirectional Information Architecture[C].IEEE International Conference on Control Applications,Yokohama,Japan,Sept.8-10,2010:2035-2040.
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