协作式巡航控制下混合车队队列稳定性

doi:10.16097/j.cnki.1009-6744.2021.04.010

交通运输系统工程与信息 ›› 2021, Vol. 21 ›› Issue (4): 82-89.DOI: 10.16097/j.cnki.1009-6744.2021.04.010

• 智能交通系统与信息技术 • 上一篇下一篇

协作式巡航控制下混合车队队列稳定性

李淑庆¹，李啟丰²，王昊*³，秦严严¹

1. 重庆交通大学，交通运输学院，重庆 400074；2. 昆明市规划设计研究院，昆明 650041； 3. 东南大学，交通学院，南京 210096

收稿日期:2021-02-03 修回日期:2021-04-27 接受日期:2021-06-23 出版日期:2021-08-25 发布日期:2021-08-23
作者简介:李淑庆(1963- )，男，四川西充人，教授。
基金资助:
国家重点研发计划

String Stability of Mixed Platoon Under Cooperative Adaptive Cruise Control

LI Shu-qing¹ , LI Qi-feng² , WANG Hao^*3 , QIN Yan-yan¹

1. School of Traffic and Transportation, Chongqing Jiaotong University, Chongqing 400074, China; 2. Kunming Urban Planning & Design Institute, Kunming 650041, China; 3. School of Transportation, Southeast University, Nanjing 210096, China

Received:2021-02-03 Revised:2021-04-27 Accepted:2021-06-23 Online:2021-08-25 Published:2021-08-23
Supported by:
National Key Research and Development Program of China(2018YFB1601000)

摘要/Abstract

摘要： 考虑协作式巡航控制(Cooperative Adaptive Cruise Control，CACC)车辆与自适应巡航控制 (Adaptive Cruise Control，ACC)车辆之间的退化机制，构建由CACC车辆、ACC车辆以及人工驾驶车辆组成的混合车队。应用传递函数理论，推导混合车队在不同规模情况下的队列稳定性判别准则，计算混合车队在多种情形下的队列稳定性情况，并设计数值仿真实验验证理论分析结果。稳定性分析结果表明，所推导的混合车队队列稳定性准则能够从理论层面计算混合车队关于车队规模与车流速度的队列稳定域，当混合车队中CACC车辆比例达到25.00%~41.17%及以上时，混合车队可在全速度范围内实现队列稳定。数值仿真结果表明，混合车队头车产生的速度扰动传递至上游CACC车辆时，CACC车辆可有效抑制速度扰动的波动幅度，使混合车队趋于稳定，验证了理论分析的正确性。研究结果揭示了混合车队保持稳定时的CACC车辆与人工驾驶车辆的比例结构。

关键词: 交通工程, 混合车队, 队列稳定性, 协作式巡航控制, 数值仿真

Abstract: This paper considered the degradation mechanism of cooperative adaptive cruise control (CACC) and adaptive cruise control (ACC) and defined the mixed vehicle platoon with CACC, ACC, and traditional vehicles. The transfer function theory was used to derive string stability criterion of the mixed platoon under different scales. The stability situation of the mixed platoon was calculated for different scenarios. The numerical simulations were then performed to validate the theoretical results. The stability analysis results show that the string stability criterion of mixed platoon can be used to calculate stability regions relevant to platoon scales and vehicular speeds. The mixed platoon would be string stable for all possible speeds when the CACC proportion reaches to 25.00% ~41.17% . Simulation results show that the CACC vehicles can reduce fluctuation margin of speed disturbance when the speed disturbance spreads from the leading vehicle to the upstream CACC vehicles. This can increase the stability of the mixed platoon, which matches with the theory analysis results. The study also revealed the composition of CACC vehicles and traditional vehicles in traffic flow for the relatively stable mixed platoon.

Key words: traffic engineering, mixed platoon, string stability, cooperative adaptive cruise control (CACC), numerical simulations

中图分类号:

U491

李淑庆, 李啟丰, 王昊, 秦严严. 协作式巡航控制下混合车队队列稳定性[J]. 交通运输系统工程与信息, 2021, 21(4): 82-89.

LI Shu-qing , LI Qi-feng , WANG Hao , QIN Yan-yan. String Stability of Mixed Platoon Under Cooperative Adaptive Cruise Control[J]. Journal of Transportation Systems Engineering and Information Technology, 2021, 21(4): 82-89.

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http://www.tseit.org.cn/CN/Y2021/V21/I4/82

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协作式巡航控制下混合车队队列稳定性

String Stability of Mixed Platoon Under Cooperative Adaptive Cruise Control

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