车队中网格稳定性的协同实现
A Cooperative Implementation of Mesh Stability in Vehicular Platoons
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中文总结 AI 辅助
本研究针对车队网格稳定性问题，提出结合车车通信的协同方案，分别设计纵向与横向控制的协同非相同协议，经CarSim仿真验证其鲁棒性与性能优于现有分布式方案。
中文摘要 AI 辅助
本研究关注联网与自动驾驶车辆的网格稳定性问题，网格稳定性又称二维 string 稳定性，用于研究扰动在车队纵向与横向的传播规律。与现有仅依赖车载感知的分布式结果不同，本研究的特色是提出一种协同版本的网格稳定性，该方案在车载感知的基础上增加了车车通信，大幅提升了现有分布式性能：纵向控制方面，提出一种新的协同非相同协议（即采用非相同控制增益），在控制增益的可扩展性与 string 稳定性的强定义上，优于现有分布式非相同协议；横向控制方面，在证明非相同方法并非必要后，提出一种协同非相同协议以实现另一强 string 稳定性定义。同时，本研究考虑了所提实现对车车通信延迟与执行时间滞后的鲁棒性，通过 CarSim 车辆仿真器开展的数值实验，验证了所提协议的鲁棒性与有效性。
英文摘要
This work studies the problem of mesh stability in connected and automated vehicles. Mesh stability, also known as 2D string stability, refers to studying how disturbances propagate in vehicular platoons in both longitudinal and lateral direction. As opposed to available decentralized results only relying on on-board sensing, the distinguishing feature of this work is a cooperative version of mesh stability, where onboard sensing is augmented by vehicle-to-vehicle communication. This cooperative version dramatically improves the state-of-the-art decentralized performance: for longitudinal control, a new cooperative non-identical protocol (i.e. with non-identical control gains) is proposed that improves the state-of-the-art decentralized non-identical protocol in terms of scalability of the control gains and strong notion of string stability. For lateral control, after showing that the non-identical approach is not necessary, a cooperative non-identical protocol is proposed to achieve another strong notion of string stability. Robustness of the proposed implementation against vehicle-to-vehicle communication delays and actuation time lags is considered. Numerical experiments, also performed with the vehicle simulator CarSim, validate the robustness and effectiveness of the proposed protocol.
