Disturbance observer approach for fuel-efficient heavy-duty vehicle platooning
Disturbance observer approach for fuel-efficient heavy-duty vehicle platooning
复制标题
用于节能重型车辆队列行驶的干扰观测器方法
DOI：
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
Y. Eun
中科院分区：
文献类型：
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作者：
Gyujin Na;Gyunghoon Park;Valerio Turri;K. Johansson;H. Shim;Y. Eun
摘要重型车辆排车作为一种通过保持车辆间距离较短来降低油耗的方法，受到了广泛的关注。当一个排遵循使用预览道路坡度信息计算的燃料最优速度剖面时，燃油经济性发生显著改善。然而，在现有方法中计算最优车速时，排队需要事先获得昂贵的道路坡度数据。作为另一种选择，我们提出了一种道路坡度估计方法，使排队能够在不使用实际道路坡度数据的情况下计算出最优速度剖面。排操作中的其他主要挑战包括克服车辆模型不确定性和外部干扰的影响，以确保控制性能。最重要的骚乱发生在路线沿线的斜坡上。现有的减小坡度影响的方法通过将从GPS获得的车辆位置与坡度数据库相结合，在控制回路中采用前馈类型的补偿。但该方法存在一定的局限性：排内车辆质量不确定降低了前馈补偿的精度，且排内需要预先获取的坡度数据库。为了克服这些局限性，我们提出了一种使用干扰观测器的替代方法。利用瑞典一条高速公路的实际道路坡度数据进行了各种场景的仿真，验证了该方法的有效性。
ABSTRACT Heavy-duty vehicle platooning has received much attention as a method to reduce fuel consumption by keeping inter-vehicle distance short. When a platoon follows a fuel-optimal velocity profile calculated using preview road slope information, significant improvement in the fuel economy occurs. To calculate the optimal velocity in the existing method, however, platoon should acquire expensive road slope data in advance. As an alternative, we propose a road slope estimation method, which enables platoon to calculate the optimal velocity profile without the usage of actual road slope data. Other major challenges in platoon operation include overcoming the effect of the vehicle model uncertainties and external disturbances for ensuring the control performance. The most significant part of the disturbances arises from slopes along a route. Existing method for reducing the effect of the slope employs a feed-forward type compensation in the control loop by combining the vehicle position acquired from GPS and the slope database. However, this method exhibits limitations: the mass of the vehicles in the platoon is uncertain which lowers the accuracy of the feed-forward compensation, and the platoon requires the pre-acquired slope database. To overcome these limitations, we propose an alternative method employing disturbance observer. Simulations of various scenarios are conducted to show the efficacy of the proposed method using the actual road slope data of a Swedish highway.