| 引用本文: | 杜文举,董建勋,张建刚,马昌喜.基于变车距策略的混合车辆队列协同控制[J].控制理论与应用,2026,43(1):192~204.[点击复制] |
| DU Wen-ju,DONG Jian-xun,ZHANG Jian-gang,MA Chang-xi.Cooperative control of mixed vehicle platoon based on variable spacing policy[J].Control Theory & Applications,2026,43(1):192~204.[点击复制] |
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| 基于变车距策略的混合车辆队列协同控制 |
| Cooperative control of mixed vehicle platoon based on variable spacing policy |
| 摘要点击 204 全文点击 30 投稿时间：2024-07-15 修订日期：2025-09-13 |
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| DOI编号 10.7641/CTA.2025.40372 |
| 2026,43(1):192-204 |
| 中文关键词 交通工程 混合车辆队列 变车距策略 协同控制 稳定性 |
| 英文关键词 traffic engineering mixed vehicle platoon variable spacing policy cooperative control stability |
| 基金项目 国家自然科学基金项目(72361018),甘肃省自然科学基金项目(25JRRA160),兰州交通大学–天津大学联合创新基金项目(LH2023006)资助. |
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| 中文摘要 |
| 车辆队列协同控制研究中采用的间距策略是车辆队列系统保持内稳定性与队列稳定性的关键因素之一.
现有混合车辆队列控制研究大多采用固定间距策略,难以应用于复杂的道路行驶环境.为此,研究了基于变车距策
略的混合车辆队列协同控制方法,以及混合车辆队列的稳定性问题.首先,针对由人工驾驶车辆(HDV)和网联自动
驾驶车辆(CAV)构成的混合车辆队列,设计了二次型变车距策略,构建了基于该变车距策略的混合车辆队列系统模
型;其次,提出了基于多智能体一致性的混合车辆队列协同控制器,迭代推导出适用于包含多辆CAV的双向多车领
航车跟随式拓扑的混合车辆队列首尾传递函数;最后,设计数值仿真实验,验证了所提控制器的有效性,并讨论了驾
驶员反应时延与车辆通信时延、CAV数量、拓扑结构、CAV位置以及控制增益对混合车辆队列稳定性的影响. |
| 英文摘要 |
| The spacing policy used in collaborative control of vehicle platoon is one of the key factors to maintain
inner-vehicle stability and string stability of vehicle platoon system. Most of the existing research on mixed vehicle platoon
control adopts the constant spacing policy, which is difficult to apply to the complex road driving environment. Therefore,
the cooperative control method of mixed vehicle platoon based on variable spacing policy and the stability problem of
mixed vehicle platoon are studied. Firstly, for the mixed vehicle platoon composed of human-driven vehicles (HDV) and
connected autonomous vehicles (CAV), a quadratic variable spacing policy is designed, and the mixed vehicle platoon
system model based on the variable spacing policy is constructed. Secondly, a cooperative controller of mixed vehicle
platoon based on multi-agent consistency is proposed, and the head-to-tail transfer function of mixed vehicle platoon for a
bidirectional multi-vehicle leader-follower topology, which includes multiple connected autonomous vehicles, is derived.
Finally, numerical simulation experiments are designed to verify the effectiveness of the proposed controller, and the effects
of driver response time delay, vehicle communication time delay, number of connected autonomous vehicles, information
topologies, different types of vehicle order and control gains on the stability of the mixed vehicle platoon are discussed. |
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