基于无线网络的协作式车辆自适应巡航控制

Cooperative adaptive cruise vehicle control system is an uppermost subsystem of intelligent transportation system, which can improve the safety and operation efficiency of highway system by using vehicle's automatic cooperative control. The main study contents of this project are as follows: 1) By analyzing the effects of nonlinear dynamics, fueling and braking delay on the performance of vehicular platoon system, the quantitative relation between the stability and delay is obtained. A nonlinear controller design method is proposed which can improve the robustness of the platoon system. 2) Based on the nonlinear model, the problem of sensor failures is researched. A sufficient condition is derived for the existence of exponentially stabilizing feedback controller via the switched control approach. The obtained condition establishes several quantitative relations among the sampling period, exponential decay rate and sensor failure rate. 3) The problems of communication constraints are investigated. Based on the average dwell time method, a scheduling-and-control codesign method is proposed to improve the theory innovation in cooperative adaptive cruise vehicle control system.

协作式车辆自适应巡航控制是智能交通系统最重要的子系统之一，旨在通过自动控制技术协作车辆自动行驶，从而提高公路系统的安全性和运行效率。本项目研究内容如下：1）分析车辆动态模型的非线性、燃油和制动延时等现象及其对车队性能的影响，继而探明非线性车队系统稳定性与延时之间互相作用机理并建立相应的准数关系，深化研究车队非线性控制方法，提高其鲁棒性能。2）在非线性模型基础上分析传感器失效的现象，探索新的切换系统控制方法得到保证车队指数稳定的反馈控制器存在的条件，继而得出系统采样周期、指数衰减率及传感器失效率之间的定量关系。3）进一步分析无线网络受限等因素，深入研究基于平均驻留时间的有限信道调度和控制协同设计理论，推动协作式车辆自适应巡航控制理论的革新。

基于网络的车队协作控制系统在智能交通系统的应用中占据主导地位。其中较为热点的问题有车队的非线性建模（包括单车模型及油耗关系等）、车载传感器/执行器失效以及通信网络受限等。我们针对上述问题进行了深入研究。首先，建立了较为实际的非线性车队模型，针对这类模型设计非线性鲁棒控制器、自适应控制器等，更加便于实际应用。其次，在所建模型基础上考虑传感器/执行器随机故障问题，提高车队系统的容错能力，并得到车载传感器最大故障率的上限、采样周期的选择等，首次给出车载传感器的选择的理论依据。最后，考虑通信网络受限问题，给出车-车通信调度及控制协同设计的方案。上述内容完成一部智能交通系统中车辆协作控制专著，得到国内同行的一致认可。