控制理论与应用2024，Vol.41Issue(12)：2249-2258,10.DOI:10.7641/CTA.2023.20929
网联车辆编队节油速度轨迹优化和分布式控制
Optimizing fuel-saving speed trajectory and distributed control for connected automatic vehicles platoon
摘要
Abstract
In this paper,the fuel-saving speed trajectory optimization and the distributed control of connected automatic vehicle platoon are studied.Considering the fuel saving problem of heterogeneous connected automatic vehicles platoon,a receding horizon dynamic programming is adopted to solve the entire platoon's fuel-saving speed adapted to the changing road slope.In addition,in order to improve the flexibility of speed planning and adjustment,a quadratic spacing strategy based on the expected platoon speed is proposed.The distributed convex optimization algorithm based on the minimization of spacing error is used to solve the trajectory optimization problem,providing the optimal trajectory for all following vehicles.On this basis,a PID sliding mode controller with dual power reaching law is derived to control the speed of each following vehicle.The simulation results show that this method can ensure the internal stability and string stability of the vehicle with negligible space and speed disturbances.关键词
节油速度/分布式轨迹优化/速度相关型间距策略/滑模控制/网联车辆编队/队列稳定性Key words
fuel-saving velocity/distributed trajectory optimization/velocity dependent spacing strategy/sliding mode control/connected automated vehicle platoon/string stability引用本文复制引用
杨冬琪,段洪君,郭戈,张忍永康..网联车辆编队节油速度轨迹优化和分布式控制[J].控制理论与应用,2024,41(12):2249-2258,10.基金项目
国家自然科学基金项目(U21B2042,U22B2056,U23B2038,62173079,U1808205),甘肃省科技重大专项项目(21ZD4GA028)资助.Supported by the National Natural Science Foundation of China(U21B2042,U22B2056,U23B2038,62173079,U1808205)and the Science and Technology Program of Gansu Province(21ZD4GA028). （U21B2042,U22B2056,U23B2038,62173079,U1808205）
