Connected cruise control: modelling, delay effects, and nonlinear behaviour
Connected cruise control: modelling, delay effects, and nonlinear behaviour
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DOI：
10.1080/00423114.2016.1193209
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发表时间：
2016-06
影响因子：
3.6
通讯作者：
G. Orosz
中科院分区：
文献类型：
--
作者：
G. Orosz
摘要本文研究了车辆互联系统（CVS），其中车辆通过无线车对车（V2V）通信进行信息交换。建立了互联巡航控制（CCC）的概念，允许在单个车辆的水平上进行控制设计，同时利用V2V连接。由于其高度的模块化，所提出的设计可以应用于大型异构交通系统。一个简单的CVS的动态进行了详细分析，同时考虑到车辆动力学以及在控制器中的非线性。由于通信信道中的丢包和丢包而产生的时间延迟也被合并。结果进行了总结，使用稳定性图表，允许一个选择控制增益，以保持稳定，并确保干扰衰减时，延迟是低于一个临界值。
ABSTRACT Connected vehicle systems (CVS) are considered in this paper where vehicles exchange information using wireless vehicle-to-vehicle (V2V) communication. The concept of connected cruise control (CCC) is established that allows control design at the level of individual vehicles while exploiting V2V connectivity. Due to its high level of modularity the proposed design can be applied to large heterogeneous traffic systems. The dynamics of a simple CVS is analysed in detail while taking into account nonlinearities in the vehicle dynamics as well as in the controller. Time delays that arise due to intermittencies and packet drops in the communication channels are also incorporated. The results are summarised using stability charts which allow one to select control gains to maintain stability and ensure disturbance attenuation when the delay is below a critical value.