Robust Cooperative Adaptive Cruise Control of Hybrid Electric Vehicles in Complex Urban Traffic Situations

复杂城市交通情况下混合动力电动汽车鲁棒协同自适应巡航控制

• 批准号: RGPIN-2017-03923
• 负责人: LashgarianAzad, Nasser
• 金额: $ 2.7万
• 依托单位: University of Waterloo
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2017
• 资助国家: 加拿大
• 起止时间: 2017-01-01 至 2018-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=638776
• 关键词: Robust; Cooperative; Adaptive; Cruise; Control

Cooperative driving has received a great deal of attention in past years. Recent advances in vehicular communication systems enable the development of more intelligent driving assistance systems for a fleet of connected vehicles. Cooperative Adaptive Cruise Controller (CACC) is a driver assistance system for adjusting inter-vehicle distances through data exchanges between cars provided by wireless vehicle-to-vehicle (V2V) communications. In addition to vehicle safety and driver comfort, CACCs can improve significantly fuel economy by substantially reducing successive stop-and-go driving, especially in urban areas. In a string of vehicles supported by CACCs, the cars can accelerate or brake with less delays to minimize inter-vehicle distances, which leads to optimized traffic efficiency and enhanced road capacity. However, developing reliable CACCs for practical implementations, especially for urban driving, is a challenge. Sudden disturbances arising from a wide range of complex traffic scenarios, such as frequent stop-and-go driving sometimes with harsh decelerations and accelerations due to traffic lights, intersections, and emergency stops, as well as overtaking, lane-changing, cut-in and cut-out maneuvers, along with other sources of uncertainty like V2V communication defects and unexpected behavior of manually driven cars, can deteriorate the string stability of platoon and lead to car accidents.

合作驾驶在过去几年中受到了极大的关注。车辆通信系统的最新进展使得能够为一队联网车辆开发更智能的驾驶辅助系统。协同自适应巡航控制器（CACC）是一种驾驶员辅助系统，用于通过由无线车对车（V2V）通信提供的汽车之间的数据交换来调整车辆间距离。除了车辆安全性和驾驶员舒适性之外，CACC还可以通过大幅减少连续的走走停停驾驶来显著提高燃油经济性，特别是在城市地区。在CACC支持的一系列车辆中，汽车可以加速或制动，延迟更少，以最大限度地减少车辆间的距离，从而优化交通效率并提高道路容量。然而，开发可靠的CACC用于实际应用，特别是用于城市驾驶，是一个挑战。由各种复杂的交通场景引起的突发干扰，例如频繁的走走停停驾驶，有时由于交通信号灯、十字路口和紧急停车而出现剧烈的减速和加速，以及超车、变道、切入和切出机动，沿着其他不确定性来源，如V2V通信缺陷和手动驾驶汽车的意外行为，会恶化车队的稳定性，导致车祸。