上海交通大学学报

上海交通大学学报（自然版） ›› 2011, Vol. 45 ›› Issue (07): 949-953.

• 自动化技术、计算机技术 • 上一篇    下一篇

一种基于最优控制的车队协作算法

 谢强德a, 杨明a, 王冰a, 王春香b   

  1. （上海交通大学a.电子信息与电气工程学院; b.机械与动力工程学院, 上海 200240）
  • 收稿日期:2010-09-02 出版日期:2011-07-29 发布日期:2011-07-29
  • 基金资助:

    上海市科委世博科技行动计划项目（10dz0581100）；教育部博士点基金项目（20070248097）

Quick Startup Control of a Platoon of Vehicles Based on Optimal Theory

 XIE  Qiang-De-a, YANG  Ming-a, WANG  Bing-a, WANG  Chun-Xiang-b   

  1. (a.School of Electronic, Information and Electrical Engineering; b.School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China)
  • Received:2010-09-02 Online:2011-07-29 Published:2011-07-29

摘要： 为缩短车队通过路口的时间，提出了一种基于最优控制的车队协作算法.首先，根据车辆运动的物理关系构建车队模型，并利用包含原理对其进行分解，获得车队系统的扩展模型.然后，使用最优输出跟踪控制算法，并根据车队安全性要求求取算法中的权重矩阵，得到车队系统的最优控制率.最后，通过收缩原系统获得车队的次优控制率.该方法可以在保证车辆安全行驶情况下，使车队能尽快达到目标巡航速度，从而快速通过路口.仿真和实际实验结果证明了该方法的有效性.

关键词: 最优控制, 车队, 重叠结构分解, 仿真

Abstract: A coordination methodology based on optimal control was proposed for platoons of vehicles to reduce the time passing through the intersection. The linear model of the platoon was derived and can be of overlapping interconnected subsystem. By decomposing the original system model via an appropriate input/state expansion, an expand system model was obtained. By applying the optimal output tracking control algorithm to the expand system model and by choosing the weight matrixes according to the safe distance, the optimal control rate was acquired, and then the original system control rate was obtained by contracting back. The method can have the platoon achieve the target cruising speed as soon as possible and guarantee the safety of vehicles. The application results of the controller illustrate the effectiveness of the proposed methodology.

Key words:  , optimal control, platoon of vehicles, overlapping decomposition, simulation

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