Vibration-Theoretic Approach to Vulnerability Analysis of Nonlinear Vehicle Platoons
Vibration-Theoretic Approach to Vulnerability Analysis of Nonlinear Vehicle Platoons
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DOI：
10.1109/tits.2023.3278574
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发表时间：
2023-10
影响因子：
8.5
通讯作者：
Pengcheng Wang;Xinkai Wu;Xiaozheng He
中科院分区：
文献类型：
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作者：
Pengcheng Wang;Xinkai Wu;Xiaozheng He
本研究探讨了非线性车辆队列的固有脆弱性，其特征在于由外部扰动引发的振荡行为。将作用在车队上的扰动视为作用在物体上的外力。本研究在机械振动分析的基础上，提出了一种基于振动理论的方法，从两个方面对编队的易损性进行了深入的研究。首先，该方法引入阻尼强度来表征车辆队列的脆弱性，将队列振荡分为两种类型，即，欠阻尼和过阻尼。阻尼强度测量排响应扰动的恢复强度。其次，该方法可以得到一个非线性车队的共振频率，其中共振放大队列振荡幅度时，外部扰动频率等于队列的阻尼振荡频率。本研究的主要贡献在于解析推导了阻尼强度和共振频率的解析表达式。特别是，所提出的方法制定的队列动力学扰动下作为一个二阶非齐次常微分方程，使严格的推导和分析具有复杂的非线性车辆跟驰行为的队列。通过建立在真实世界的数据上的仿真，本文表明，过阻尼的车队是更强大的抗扰动，和欠阻尼的车队可以很容易地通过施加扰动在车队的共振频率不稳定。理论推导和仿真结果揭示了可靠的队列控制的设计，无论是人类驾驶或自动驾驶车辆，以抑制振荡的不利影响。
This research explores the inherent vulnerability of nonlinear vehicle platoons characterized by the oscillatory behavior triggered by external perturbations. The perturbation exerted on the vehicle platoon is regarded as an external force on an object. Following the mechanical vibration analysis in mechanics, this research proposes a vibration-theoretic approach that advances our understanding of platoon vulnerability from two aspects. First, the proposed approach introduces damping intensity to characterize vehicular platoon vulnerability, which divides platoon oscillations into two types, i.e., underdamped and overdamped. The damping intensity measures the platoon’s recovery strength in responding to perturbations. Second, the proposed approach can obtain the resonance frequency of a nonlinear vehicle platoon, where resonance amplifies platoon oscillation magnitude when the external perturbation frequency equals the platoon’s damping oscillation frequency. The main contribution of this research lies in the analytical derivation of the closed-form formulas of damping intensity and resonance frequency. In particular, the proposed approach formulates platoon dynamics under perturbation as a second-order non-homogeneous ordinary differential equation, enabling rigorous derivations and analyses for platoons with complicated nonlinear car-following behaviors. Through simulations built on real-world data, this paper demonstrates that an overdamped vehicle platoon is more robust against perturbations, and an underdamped platoon can be destabilized easily by exerting a perturbation at the platoon’s resonance frequency. The theoretical derivations and simulation results shed light on the design of reliable platooning control, either for human-driven or automated vehicles, to suppress the adverse effects of oscillations.