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: 2018
• 资助国家: 加拿大
• 起止时间: 2018-01-01 至 2019-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=656709
• 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. ******In this research, a novel synthesis framework for robust CACCs with optimal performance will be developed to maintain the string stability in the presence of various unknown disturbances and uncertainties in urban driving. Our plan is to develop and evaluate multiple robust CACCs by doing one of the core steps of our design methodology in several different ways. By the end of this program, we expect to identify an effective development methodology for robust CACCs with the best performance. The proposed CACCs will be designed for urban transport and use a broader range of data about upcoming driving (for instance, traffic lights, intersections, traffic jams, roadwork) obtained from on-board sensors to drive the vehicle safely with less fuel consumptions, while satisfying travel time and comfort criteria. These controllers will be developed for hybrid electric vehicles (HEVs), one of the near-term alternatives for sustainable transportations. HEVs have additional electric propulsion which makes them more complex than internal combustion engine vehicles. Our results will impact the area of cooperative driver assistance systems, and autonomous driving by some degree. The devised controllers will also add critical competitive value to the cars built by Canadian automotive companies and put them at the forefront of collaborative driving systems innovation. These CACCs will improve HEVs safety and fuel economy while enhancing road capacity and traffic efficiency.

在过去的几年中，合作驾驶引起了很多关注。车辆通信系统的最新进展使得可以为互联车队的车队开发更聪明的驾驶援助系统。合作自适应巡航控制器（CACC）是一种驾驶员辅助系统，可通过通过无线车辆到车辆（V2V）通信提供的汽车交换来调整车辆间距离。除了车辆的安全性和驾驶员舒适性外，CACC还可以通过实质上减少连续的停靠驾驶，尤其是在城市地区，从而显着改善燃油经济性。在CACC支持的一串车辆中，汽车可以加速或制动延误，以最大程度地减少车间距离，从而导致优化的交通效率和增强的道路容量。但是，开发可靠的CACC进行实际实施，尤其是在城市驾驶方面，是一个挑战。突然因各种复杂的交通情况而引起的突然干扰，例如由于交通信号灯，交叉点和紧急停止和超车，超越，改变车道，切开和切割的手术，以及其他无效的行为，诸如频繁的下降和加速，以及超越，改变车道，切开和切割的手段，以及v2v沟通的其他范围的稳定性和稳定性的行为，越来越多的行为，以及超车，越来越多的驾驶和超车，车道，换车，切割和切断的手术和其他范围的行为。发生车祸。 ******在这项研究中，将开发出一种具有最佳性能的鲁棒CACC的新型合成框架，以在存在各种未知的干扰和城市驾驶中的不确定性的情况下保持弦稳定性。我们的计划是通过几种不同的方式来制定设计方法的核心步骤之一，以开发和评估多个健壮的CACC。到该计划结束时，我们希望确定具有最佳性能的强大CACC的有效开发方法。拟议的CACC将设计用于城市运输，并使用有关即将到来的驾驶（例如，交通信号灯，交叉点，交通拥堵，道路工程）的更广泛的数据范围，以减少燃油消耗量，同时满足旅行时间和舒适性标准，以减少燃油消耗量的安全驾驶车辆。这些控制器将用于混合动力汽车（HEV），这是可持续运输的近期替代方案之一。 HEV具有额外的电气推进，使它们比内燃机车辆更复杂。我们的结果将影响合作驾驶援助系统的领域，并在某种程度上自动驾驶。设计的控制器还将为加拿大汽车公司制造的汽车增添关键的竞争价值，并将其置于协作驾驶系统创新的最前沿。这些CACC将提高HEV的安全性和燃油经济性，同时提高道路容量和交通效率。