交通运输工程与信息学报2024，Vol.22Issue(4)：37-51,15.DOI:10.19961/j.cnki.1672-4747.2024.03.007
考虑通信延迟的智能车队纵向控制
Longitudinal control of intelligent fleet considering communication delay
摘要
Abstract
This paper proposes motion state estimation-model predictive control(MSE-MPC)for in-telligent vehicle queue control to address the delay problem in the transfer of information between vehicles during the longitudinal following control of an intelligent fleet.The proposed method com-bines an MSE algorithm with MPC,considering communication delays.The MSE algorithm esti-mates the state information of the preceding vehicle during communication delays.The model predic-tive controller then utilizes the estimated motion state value of the preceding vehicle to determine the desired acceleration of the following vehicle.Thus,a steady queuing system can be established by maintaining an appropriate following distance by accelerating and decelerating the vehicle.The con-trol method is simulated and verified using the Simulink/Carsim joint simulation platform under two different delay conditions:fixed and random delays.Subsequently,the performance of the control al-gorithm is compared with that of the control effect of MSE-MPC without delay and MPC with delay.The simulation results indicate that the MSE-MPC algorithm is effective and insensitive to changes in the communication delay when the delay duration increases.The proposed algorithm can better re-sist the effect of communication delays,and the control effect is relatively good,ensuring stable driv-ing of the queue.关键词
智能交通/通信延迟/模型预测控制/运动状态估计/车辆编队Key words
intelligent transportation/communication delay/model predictive control/motion state estimation/vehicle queue分类
信息技术与安全科学引用本文复制引用
王静,雷利利,熊晓夏,林威..考虑通信延迟的智能车队纵向控制[J].交通运输工程与信息学报,2024,22(4):37-51,15.基金项目
国家自然科学基金项目(52002154) （52002154）
