【摘要】 队列行驶的研究能有效解决商用车货运安全、能耗浪费和环境污染等问题,但现有研究多基于单一跟车目标控制的匀质队列,这在货运场景中无法达到很好的控制效果。本文中构造了纯电动异质商用车队列,为其设计了分布式非线性模型预测控制器。根据道路环境信息和车辆跟车、安全、舒适和节能等特性,分别建立了领航车和跟随车的控制器模型,实现异质队列的多目标控制。为验证所提出控制方法的有效性,由5辆动力学特性相异的商用车组成队列,并搭建了控制仿真平台进行Trucksim/Simulink联合仿真。结果表明,本文中提出的控制算法能有效实现异质商用车队列的多目标控制,与PID定速巡航控制相比,能耗可降低5.3%以上。更多还原

【Abstract】 Platooning research can effectively solve the problems of freight safety, energy waste and environmental pollution of commercial vehicles, but the most existing platooning researches are based on homogeneous platoon with single target tracking control, which cannot achieve good control effects in real world freight scenes. In this paper, a heterogeneous platoon composed of battery electric commercial vehicles is constructed, for which a distributed nonlinear model predictive controller is designed. According to the road environmental information and the tracking, safety, comfort and energy saving characteristics of vehicle, the controller models for leading vehicle and follower vehicles are established respectively to realize the multi-target control of heterogeneous platoon. For verifying the effectiveness of the control method proposed, a control simulation platform for a heterogeneous platoon consisting of 5 commercial vehicles with different dynamic characteristics is built, and a Trucksim/Simulink co-simulation is conducted. The results show that the control algorithm proposed can effectively achieve multi-target control of the heterogeneous platoon of commercial vehicle, with an over 5.3% reduction in energy consumption, compared with PIC constant-speed cruise control.更多还原