异质车联网环境下耦合映射跟驰模型的协同控制问题
Collaborative control of coupled map car-following model under heterogeneous connected vehicle environment
摘要点击 193  全文点击 153  投稿时间:2017-06-26  修订日期:2018-05-16
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DOI编号  10.7641/CTA.2018.70431
  2019,36(1):96-107
中文关键词  异质车联网  耦合映射跟驰模型  滞后反应时间  协同控制  稳定性
英文关键词  heterogeneous connected vehicle  coupled-map car following model  time delay  collaborative control  stability
基金项目  国家自然科学基金项目(61703165, 51408237), 中国博士后基金(2016M600653), 中央高校基本科研业务经费(D2171990), 广东省科技计划项目 (2012A010800003)资助
学科分类代码  
作者单位E-mail
翟聪 佛山科学技术学院 957083516@qq.com 
巫威眺 华南理工大学 土木交通学院  
黄玲 华南理工大学 土木交通学院  
中文摘要
      本文考虑驾驶员的滞后反应时间随时间变化的特性, 提出了更符合实际的耦合映射跟驰模型, 利用李雅普诺夫 函数理论, 推导了车队行驶满足稳定性的充分条件. 在此基础上, 考虑异质车联网环境下同时存在人工驾驶车辆和自动 驾驶车辆根据车流的运行特性, 将人工驾驶车辆抽象为自动驾驶车辆传感器失效的情况, 设计了状态反馈速度控制器, 使得闭环系统在部分传感器失效情况下仍然满足渐近稳定, 即可缓解交通拥挤问题, 利用MATLAB的LMIs工具箱求解 得到该控制器的增益参数, 最后通过数值算例将控制器的性能与传统的Konishi反馈控制器和无控制器情形相比, 并分 析了人工车辆的比例和位置对控制器效果的影响, 验证了本文方法的有效性.
英文摘要
      In this paper, we propose a more realistic coupled map car following model considering the driver’s characteristics of the delay changing over time. Using the theory of Lyapunov function, the sufficient conditions for system stability of the model is presented. Thereafter, we design a new state feedback controller taking into account vehicles sensors failures, which drives the closed-loop system to asymptotic stability in the provision of partial vehicles sensor failure, such that the congestion problem can be effectively suppressed. The gain parameters of the controller are attained by MATLAB’s LMIs toolbox. In the numerical example, the performance of designed controller is compared to those of the conventional Konishi controller and without any control. The impact of percentage and location of vehicles on the performance of the controller is also analyzed, which verifies the effectiveness of our method.