人工势场增强的网联异构车队分布式非线性纵横向耦合控制

doi:10.16097/j.cnki.1009-6744.2026.04.013

摘要/Abstract

摘要： 针对网联异构车队在动态复杂场景下纵横向协同控制精度与实时性难以兼顾的问题，本文提出一种人工势场增强的分布式纵横向耦合控制方法。首先，基于有向图通信拓扑结构，构建考虑轮胎非线性特性的三自由度纵横向耦合动力学队列模型；其次，设计人工势场增强的分布式非线性模型预测控制器，并采用交替方向乘子法进行分布式求解；最后，搭建多种工况环境进行仿真实验。结果表明：在车辆切入工况下，与传统分布式非线性模型预测控制相比，本文提出方法能够在保持期望安全间距下，横向位置误差和航向角误差分别降低约36.3%和22.1%；在高曲率S型弯道下，与分布式线性模型预测控制相比，横向位置精度和航向角精度分别提高约 57.1%和 64.2%，与集中式非线性模型预测控制相比，计算效率提高约87%，验证了分布式非线性架构的合理性，实现车队跟踪精度与实时性的最优权衡。此外，在人工势场增强的分布式非线性模型预测控制下，驾驶舒适度提升约8.9%，燃油消耗指标降低约3.6%，表明该方法在舒适度及燃油经济性方面同样具有优势。

关键词: 智能交通, 纵横向耦合, 分布式非线性模型预测控制, 异构车队, 人工势场

Abstract: To address the challenge of balancing longitudinal-lateral cooperative control accuracy and real-time performance for connected heterogeneous vehicle platoons in dynamically complex scenarios, this paper proposes a distributed longitudinal-lateral coupled control method enhanced by an artificial potential field. First, based on a directed graph communication topology, a three-degree-of-freedom longitudinal-lateral coupled dynamic platoon model is developed considering tire nonlinear characteristics. Then, a distributed nonlinear model predictive controller enhanced by an artificial potential field is designed, and the alternating direction method of multipliers is used for distributed solution. The simulation experiments are conducted under various operating conditions. The results show that in a vehicle cut-in scenario, compared with the traditional distributed nonlinear model predictive control, the proposed method can reduce the lateral position error and heading angle error by approximately 36.3% and 22.1%, respectively, while maintaining the desired safe inter-vehicle distance. In a high-curvature S-shaped curve scenario, compared with the distributed linear model predictive control, the lateral position accuracy and heading angle accuracy are improved by about 57.1% and 64.2%, respectively. Compared with the centralized nonlinear model predictive control, the computational efficiency is increased by approximately 87%, which verifies the rationality of the distributed nonlinear architecture and achieves an optimal trade-off between platoon tracking accuracy and real-time performance. Furthermore, under the distributed nonlinear model predictive control enhanced by the artificial potential field, driving comfort is improved by about 8.9%, and the fuel consumption index is reduced by approximately 3.6%, indicating that the proposed method also exhibits advantages in terms of comfort and fuel economy.

Key words: intelligent transportation, longitudinal-lateral coupling, distributed nonlinear model predictive control, heterogeneous vehicle platoon, artificial potential field

中图分类号:

U491.2

贾彦峰, 李富贵, 曲大义, 胡星辰, 李妍妍. 人工势场增强的网联异构车队分布式非线性纵横向耦合控制[J]. 交通运输系统工程与信息, 2026, 26(4): 148-161.

JIA Yanfeng, LI Fugui, QU Dayi, HU Xingchen, LI Yanyan. Distributed Nonlinear Longitudinal-Lateral Coupled Control for Connected Heterogeneous Vehicle Platoons Enhanced by Artificial Potential Field[J]. Journal of Transportation Systems Engineering and Information Technology, 2026, 26(4): 148-161.

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链接本文: http://www.tseit.org.cn/CN/10.16097/j.cnki.1009-6744.2026.04.013

http://www.tseit.org.cn/CN/Y2026/V26/I4/148

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