Control of vehicle platoons for highway safety and efficient utility: Consensus with communications and vehicle dynamics
Control of vehicle platoons for highway safety and efficient utility: Consensus with communications and vehicle dynamics
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DOI：
10.1007/s11424-014-2115-z
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发表时间：
2014-08
影响因子：
2.1
通讯作者：
L. Wang;Ali Syed;G. Yin;A. Pandya;Hongwei Zhang
中科院分区：
文献类型：
--
作者：
L. Wang;Ali Syed;G. Yin;A. Pandya;Hongwei Zhang
公路车辆的队列编队是自动或半自动车辆控制的关键基础，用于增强安全性，改善公路效用，提高燃油经济性，并减少智能交通系统的排放。车队控制面临着来自车辆控制、通信、团队协调和不确定性的巨大挑战。提出了一种将网络一致性决策与车辆控制相结合的车队协调控制方法。为了根据地形和环境条件实现团队车辆的适当协调，将新兴的网络共识控制技术修改为加权和约束的共识寻求框架。介绍了算法并建立了它们的收敛性。该方法通过车载传感器和V2V或V2I通信利用邻居信息，但实现了整个排的全局协调。的鲁棒性，干扰抑制，噪声衰减，和网络物理相互作用的方法的能力进行了分析，并与模拟案例研究证明。
Platoon formation of highway vehicles is a critical foundation for autonomous or semiautonomous vehicle control for enhanced safety, improved highway utility, increased fuel economy, and reduced emission toward intelligent transportation systems. Platoon control encounters great challenges from vehicle control, communications, team coordination, and uncertainties. This paper introduces a new method for coordinated control of platoons by using integrated network consensus decisions and vehicle control. To achieve suitable coordination of the team vehicles based on terrain and environmental conditions, the emerging technology of network consensus control is modified to a weighted and constrained consensus-seeking framework. Algorithms are introduced and their convergence properties are established. The methodology employs neighborhood information through on-board sensors and V2V or V2I communications, but achieves global coordination of the entire platoon. The ability of the methods in terms of robustness, disturbance rejection, noise attenuation, and cyber-physical interaction is analyzed and demonstrated with simulated case studies.