面向改装旧车的恒定间距协作式自适应巡航控制
Cooperative Adaptive Cruise Control with Constant Distance Gaps for Retrofitted Legacy Vehicles
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中文总结 AI 辅助
针对过饱和信号交叉口，提出一种基于MPC的恒定间距CACC控制器，仅用单车前视通信实现3米内紧密间距，并通过间距松弛策略提升车队长度，实车实验验证了其有效性。
中文摘要 AI 辅助
本文提出了一种用于协作式自适应巡航控制（CACC）的恒定间距（CDG）间距控制器，旨在提高过饱和信号交叉口的通行能力。在由量产乘用车组成的出发车队中，该控制器仅使用单车前视（OVLA）通信，即可在有限的车队长度内保持低于3米的紧密车间距。在异构、改装的旧款量产车上进行的大量实车实验证明了其稳健运行。据我们所知，这是在上述条件组合下首次实现如此紧密间距的实验演示。正如我们之前的仿真研究所表明的，当车辆在启动过程中保持其静止间距时，CDG策略可以显著提高过饱和信号交叉口的放行率。由于这一优势仅在高渗透率下才能显现，因此需要能够在现有以燃油车为主的车队中部署的、支持改装的解决方案。然而，在此类车队中的实际实现仍是一个开放的挑战。所提出的基于模型预测控制（MPC）的控制器将一阶纵向预测模型与采用OEM特定扭矩模型的精确动力总成前馈相结合，且无需交换机密车辆参数。它避免了显式的车队协调，以最小化密集交通中的空中接口负载。为了减轻扰动放大并在极小间距下增加可行的车队长度，比较了两种受控的间距松弛策略：（i）接近理论弦稳定性边界的微时间间隔策略，以及（ii）基于虚拟质量-弹簧-阻尼器模型的加速度相关间距松弛。我们引入了期望加速度超调量（DAO），这是一种将局部执行器需求放大与可实现车队长度相关联的时域指标。
英文摘要
A Constant Distance Gap (CDG) spacing controller for Cooperative Adaptive Cruise Control (CACC) designed to increase the capacity of oversaturated signalized intersections is presented. In a departing platoon of production passenger vehicles, the controller maintains close inter-vehicle distances below 3 m within limited platoon lengths, using one-vehicle-look-ahead (OVLA) communication only. Extensive real-world experiments on heterogeneous, retrofitted legacy production cars demonstrate robust operation. To the best of our knowledge, this is the first experimental demonstration of such close distances under this combination of conditions. A CDG policy can substantially increase discharge rates at oversaturated signalized intersections when vehicles preserve their standstill spacing during startup, as shown in our previous simulation study. Because this benefit unfolds only at high penetration rates, it calls for retrofit-capable solutions deployable in existing combustion-dominated fleets. However, practical realization in such fleets remains an open challenge. The proposed MPC-based controller combines a first-order longitudinal prediction model with precise powertrain feedforward employing OEM-specific torque models, without exchanging confidential vehicle parameters. It avoids explicit platoon coordination to minimize air-interface load in dense traffic. To mitigate disturbance amplification and increase feasible platoon length at very small gaps, two controlled spacing-relaxation strategies are compared: (i) a micro-time-gap policy near the theoretical string-stability bound, and (ii) an acceleration-dependent spacing relaxation based on a virtual mass-spring-damper model. We introduce the Desired Acceleration Overshoot (DAO), a time-domain metric relating local actuator-demand amplification to achievable platoon length.
发表机构
- Department of Energy, Systems, Territory and Constructions Engineering, University of Pisa（比萨大学能源、系统、领土与建筑工程系）
- Fraunhofer Institute FOKUS, Berlin（柏林弗劳恩霍夫FOKUS研究所）
- Dyson School of Design Engineering, Imperial College London（帝国理工学院戴森设计工程学院）
机构由 AI 辅助整理，请以论文原文为准。
