Stabilizing mixed vehicular platoons with connected automated vehicles: An H-infinity approach
Stabilizing mixed vehicular platoons with connected automated vehicles: An H-infinity approach
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DOI：
10.1016/j.trpro.2019.05.024
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发表时间：
2020-02
期刊：
影响因子：
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通讯作者：
Yang Zhou;Soyoung Ahn;Meng Wang;S. Hoogendoorn
中科院分区：
文献类型：
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作者：
Yang Zhou;Soyoung Ahn;Meng Wang;S. Hoogendoorn
提出了一种互联自动车辆（CAV）的跟驰控制策略，以稳定由CAV和人类驾驶车辆组成的混合车队。本研究首先建立一个混合车队的稳定性准则。具体地说，一个混合车队被分解成“子系统”，所有可能的顺序子集的队列。弦稳定性被定义为所有子系统的“头到尾”弦稳定性：扰动的大小不会从每个子系统的第一个飞行器到最后一个飞行器被放大。基于这一定义，分布式频域CAV控制的建议，以增加头到尾字符串稳定的子系统的数量，从而大大抑制走走停停的干扰。具体而言，H ∞控制问题，制定在每个子系统中的最大干扰“阻尼比”最小化内的主要加速度频率边界的人驾驶的车辆。嵌入真实的人驾驶车辆轨迹的仿真实验表明，所提出的控制方法能够有效地抑制走走停停干扰。
This paper presents a car-following control strategy of connected automated vehicles (CAVs) to stabilize a mixed vehicular platoon consisting of CAVs and human-driven vehicles. This study first establishes a string stability criterion for a mixed vehicular platoon. Specifically, a mixed vehicular platoon is decomposed into “subsystems” that are all possible sequential subsets of the platoon. String stability is then defined as the “head-to-tail” string stability for all subsystems: the magnitude of a disturbance is not amplified from the first vehicle to the last vehicle of each subsystem. Based on this definition, distributed frequency-domain-based CAV control is proposed to increase the number of head-to-tail string stable subsystems and consequently dampen stop-and-go disturbances drastically. Specifically, an H-infinity control problem is formulated, where the maximum disturbance “damping ratios” in each subsystem is minimized within the predominant acceleration frequency boundaries of human-driven vehicles. Simulation experiments, embedded with real human-driven vehicle trajectories, were conducted, and results show that the proposed control can effectively dampen stop-and-go disturbances.