混合交通环境车辆队列协同控制

车辆队列在提高驾驶安全性、提升交通流量、改善燃油经济性方面具有巨大潜力,但现有研究多针对完全由智能网联车辆组成的队列,难以适用于现实中的混合交通环境.为此,文章研究了人工驾驶车辆与智能网联车辆的混合队列协同控制方法,在智能网联车辆控制设计中引入后车信息,并分析了其对队列稳定性、跟踪性能、燃油经济性的影响.首先构建了一种...

Cooperative Control of Vehicular Platoon in Mixed Traffic Environment

Vehicular platoon has potential to significantly enhance driving safety,increase traffic flow and improve fuel economy.Existing research mostly focuses on platoons composed of only intelligent connected vehicles,which is difficult to meet mixed traffic environment.To address the aforementioned issue,this paper studies cooperative control of the platoon consisting of both human-driven vehicles and intelligent connected vehicles,and investigates the influence on stability,tracking performance and fuel economy of mixed traffic system,with the intelligent connected vehicle considering the information of following vehicles.Firstly,a mixed vehicular platoon system model is built,and an improved controller model is proposed,which is suitable for bilateral information flow topology.Then,a method of calculating the head-to-tail transfer function is given,the closed-loop stability and the head-to-tail string stability of the mixed vehicular platoon with disturbance is discussed.Finally,through numerical simulation analysis,by introducing the information of the following vehicle into the vehicular platoon,it is shown that the impact of disturbance can be effectively attenuated,the platoon stability can be guaranteed and the fuel economy of vehicular platoon can be increased,while the tracking error of the rear vehicle and total fuel consumption of the vehicular platoon are reduced separately by 30%and 0.6%.