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

在过去的几年里，合作驾驶受到了极大的关注。车载通信系统的最新进展使联网车辆车队能够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，通过无线车对车（V2V）通信提供的车间数据交换来调整车间距离。除了车辆安全性和驾驶员舒适性外，ccc还可以通过大幅减少连续走走停停的驾驶来显著提高燃油经济性，特别是在城市地区。在CACCs支持的一系列车辆中，车辆可以在更短的时间内加速或制动，从而最大限度地减少车辆之间的距离，从而优化交通效率，增强道路容量。然而，为实际应用开发可靠的ccc，特别是城市驾驶，是一个挑战。各种复杂的交通场景所产生的突发干扰，如频繁的走走停停，有时因红绿灯、十字路口、紧急停车而出现剧烈的减速和加速，以及超车、变道、切入和切断等操作，再加上V2V通信缺陷、人工驾驶汽车的意外行为等其他不确定因素，都会破坏队列的稳定性，导致交通事故的发生。

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.