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基于MPC的多车纵向协同避撞算法
作者 胡满江,徐彪,秦洪懋,徐成,丁可,王建强
出版年份 2017 引用
摘要
车辆防撞预警系统在近年得到快速发展,有效提升了道路交通的安全性。然而现有避撞算法大多考虑相邻两车间的安全关系,并未涉及前车行为对连续后车造成的不利影响。该文提出一种基于模型预测控制(model predictive control...展开全文
车辆防撞预警系统在近年得到快速发展,有效提升了道路交通的安全性。然而现有避撞算法大多考虑相邻两车间的安全关系,并未涉及前车行为对连续后车造成的不利影响。该文提出一种基于模型预测控制(model predictive control,MPC)的多车纵向协同避撞算法,通过综合考虑队列运动学关系,基于模型预测控制,以总相对动能密度最小作为优化目标,将连续时间优化问题离散化为二次规划的数值计算,以避免或减少队列整体的碰撞损失。最后通过MATLAB进行数值仿真,验证了所提方法的有效性。
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Robustness Analysis and Controller Synthesis of Homogeneous Vehicular Platoons with Bounded Parameter Uncertainty
作者 Shengbo Eben Li,Xiaohui Qin,Keqiang Li,Jianqiang Wang,Boyuan Xie
出版年份 2017 引用
摘要
The platooning of automated vehicles can significantly benefit road transportation in terms of traffic capacity, fuel efficiency, etc. This paper presents a robust distributed control method for vehi...展开全文
The platooning of automated vehicles can significantly benefit road transportation in terms of traffic capacity, fuel efficiency, etc. This paper presents a robust distributed control method for vehicular platoons with bounded parameter uncertainty and abroad spectrum ofinteraction topologies. The nonlinear node dynamics are reduced to an uncertain linear model by using inverse model compensation. The interaction topology is modeled as a direct edgraph,leading tohigh-dimension allinear platoon dynamics with parameter uncertainties existing in both state matrix and input matrix. For the topologies with real and/or complex eigenvalues, a sufficient condition for robust stability is derived through the similarity transformation and Lyapunov stability theory, whose benefit lies in the fact that this condition is completely defined in real number field. A Riccati inequality-based robust controller synthesis algorithm is presented whose computation complexity is independent of platoon size. The proposed method is validated by a series of simulations with high-order nonlinear vehicle models.
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非匀质车辆队列的分布式控制
作者 秦晓辉,王建强,谢伯元,胡满江,李克强
出版年份 2017 引用
摘要
提出了对称通信拓扑下具有不同参数摄动的非匀质车辆队列鲁棒稳定性分析方法和分布式控制器设计方法。 通过反馈线性化技术求得队列节点的线性动力学响应,结合分布式控制策略和静态状态反馈控制律,建 立了具有范数有界参数...展开全文
提出了对称通信拓扑下具有不同参数摄动的非匀质车辆队列鲁棒稳定性分析方法和分布式控制器设计方法。 通过反馈线性化技术求得队列节点的线性动力学响应,结合分布式控制策略和静态状态反馈控制律,建 立了具有范数有界参数不确定性的车辆队列高维状态方程。 利用矩阵不等式将队列系统内稳定性转化为线性方程 的 H∞性能,证明了队列系统在不同参数摄动下保证鲁棒稳定性的充分条件,并给出了控制器增益的低维度求解方法。 最后,基于非线性车辆模型进行了数值仿真,验证了所提出方法的有效性。
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Distributed Platoon Control Under Topologies With Complex Eigenvalues: Stability Analysis and Controller Synthesis
作者 Shengbo Eben Li,Xiaohui Qin,Yang Zheng,Jianqiang Wang,Keqiang Li,Hongwei Zhang
出版年份 2017 引用
摘要
The platooning of autonomous vehicles can significantly benefit road traffic. Most previous studies on platoon control have only focused on specific communication topologies, especially those with r...展开全文
The platooning of autonomous vehicles can significantly benefit road traffic. Most previous studies on platoon control have only focused on specific communication topologies, especially those with real eigenvalues. This paper extends existing studies on distributed platoon control to more generic topologies with complex eigenvalues, including both internal stability analysis and linear controller synthesis. Linear platoon dynamics are derived using an inverse vehicle model compensation, and graph theory is employed to model the communication topology, leading to an integrated high-dimension linear model of the closedloop platoon dynamics. Using the similarity transformation, a sufficient and necessary condition is derived for the internal stability, which is completely defined in real number field. Then, we propose a Riccati inequality based algorithm to calculate the feasible static control gain. Further, disturbance propagation is formulated as an H∞ performance, and the upper bound of spacing errors is explicitly derived using Lyapunov analysis. Numerical simulations with a nonlinear vehicle model validate the effectiveness of the proposed methods.
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Distributed receding horizon control of a platoon of multiple CAVs with discontinuous-gear transmissions
作者 Shengbo Li, Yang Zhang, Yougang Bian, Keqiang Li
出版年份 2016 引用
摘要
The platooning of connected automated vehicles (CAVs) have the potential to significantly benefit the road transportation. This paper presents a distributed control algorithm for a platoon of vehicles with discontinuous gear transm...展开全文
The platooning of connected automated vehicles (CAVs) have the potential to significantly benefit the road transportation. This paper presents a distributed control algorithm for a platoon of vehicles with discontinuous gear transmissions using the receding horizon optimization. A directed graph is used to describe the underlying communication topology among different vehicles. Each vehicle is modeled as a three-state nonlinear system with mixed integer inputs. To achieve the coordination of multiple vehicles, each vehicle is assigned a local open-loop optimal control problem, of which the cost function is designed by penalizing on both tracking errors and fuel consumption. The equality terminal constraint is employed to guarantee the consensus of desired terminal state in the predictive horizon, which is critical for the asymptotical stability. Numerical simulations demonstrate that this algorithm has the potential to achieve the consensus of multi-vehicles in a platoon while improving fuel efficiency.收起全文

Model predictive control-based cooperative lane change strategy for improving traffic flow
作者 Di Wang, Manjiang Hu, Yunpeng Wang, Jianqiang Wang, Hongmao Qin and Yougang Bian
出版年份 2016 引用
摘要
Lane change has attracted more and more attention in recent years for its negative impact on traffic safety and efficiency. However, few researches addressed the multi-vehicle cooperation during lane change process. In this article,...展开全文
Lane change has attracted more and more attention in recent years for its negative impact on traffic safety and efficiency. However, few researches addressed the multi-vehicle cooperation during lane change process. In this article, feasibility criteria of lane change are designed, which considers the acceptable acceleration/deceleration of neighboring vehicles; meanwhile, a cooperative lane change strategy based on model predictive control is proposed in order to attenuate the adverse impacts of lane change on traffic flow. The proposed strategy implements the centralized decision making and active cooperation among the subject vehicle performing lane change in the subject lane and the preceding vehicle and the following vehicle in the target lane during lane change. Using model predictive control, safety, comfort, and traffic efficiency are integrated as the objectives, and lane change process is optimized. Numerical simulation results of the cooperative lane change strategy suggest that the deceleration of following vehicle can be weakened and further the shock wave propagated in traffic flow can be alleviated to some degree compared with traditional lane change.收起全文

The relationship between the resonance frequency of a steering system and the tire-road friction coefficient
作者 Long Chen,Yugong Luo,Mingyuan Bian,Zhaobo Qin,Keqiang Li
出版年份 2016 引用
摘要
Some researchers found the relationship between the resonance frequency of an in-wheel motor (IWM) drive system and the tire-road friction coefficient (TRFC), and used it to estimate TRF...展开全文
Some researchers found the relationship between the resonance frequency of an in-wheel motor (IWM) drive system and the tire-road friction coefficient (TRFC), and used it to estimate TRFC. This paper tries to establish a similar relation between the road condition and the electric power steering system (EPS) frequency response, by analysing the dynamic characteristics. System modelling is conducted by coupling a lateral-relaxation-length based dynamic tire model and a simplified motor model. Then detailed analysis of the system dynamics in the frequency domain is provided by a deduced frequency response function, considering different system parameters, such as longitudinal velocity and the gear ratio. As a result of analysis, a function of the system resonance frequency (RF) which is related to TRFC is presented. Comparison of the RF is made between EPS and IWM to propose a TRFC estimation idea based on frequency domain data fusion. The correctness of the RF equation is demonstrated using a simulation model.
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Model-independent self-tuning fault-tolerant control method for 4WID EV
作者 Yugong Luo,Jian Luo,Zhaobo Qin
出版年份 2016 引用
摘要
To solve the problem of the existing fault-tolerant control system of four-wheel independent drive (4WID) electric vehicles (EV), which relies on fault diagnosis information and has limited res...展开全文
To solve the problem of the existing fault-tolerant control system of four-wheel independent drive (4WID) electric vehicles (EV), which relies on fault diagnosis information and has limited response to failure modes, a model independent self-tuning fault-tolerant control method is proposed. The method applies model-independent adaptive control theory for the self-tuning active fault-tolerant control of a vehicle system. With the nonlinear properties of the adaptive control, the complex and nonlinear issues of a vehicle system model can be solved. Besides, using the online parameter identification properties, the requirement of accurate diagnosis information is relaxed. No detailed model is required for the controller, thereby simplifying the development of the controller. The system robustness is improved by the error based method, and the error convergence and input-output bounds are proved via stability analysis. The simulation and experimental results demonstrate that the proposed fault-tolerant control method can improve the vehicle safety and enhance the longitudinal and lateral tracking ability under different failure conditions.
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