【摘要】 针对智能联网环境下的多车协同换道问题,设计一个基于多集群系统的车辆协同控制框架。给出了虚拟领导者的选取条件,智能联网车辆通过分布式集群划分算法选取邻居车辆、领导者、虚拟领导者作为控制协议的状态演化。在此基础上,提出适用于集群空间分配的间距控制算法和基于领导者跟随者的集群控制协议,使换道车辆扩大前后车辆纵向距离以达到安全换道间距。理论分析采取多微分方程求解的方式,证明所提控制协议能保证集群内的局部一致性和集群间的群一致性。仿真实例表明,所提算法与控制协议实现多集群速度收敛一致,车辆间保持期望安全间距以稀疏队形稳定行驶,多辆车辆安全准确换道到目标车道。更多还原

【Abstract】 Aiming at the problem of multi vehicle cooperative control in an environment with connected and automated vehicles, a cooperative lane changing framework is proposed based on multi cluster system. The selection conditions of virtual leader are given. Connected and Automated Vehicles(CAVs) select neighbors,leader and virtual leader as the state evolution of control protocol through distributed clustering algorithm. On this basis, a space control algorithm for cluster space allocation and a leader-follower control protocol based on cluster system are designed to make the target vehicles extend the longitudinal distance between adjacent vehicles to achieve safe lane changing distance. Theoretical analysis verifies that the proposed control protocol can guarantee the local consistency within the cluster and the group consistency among clusters by solving multiple differential equations. The simulation results show that the proposed algorithm and control protocol can make the multi clusters converge uniformly and Cavs maintain an expected safe distance to drive stably in a sparse formation. As a result,CAVs change safely and accurately to the target lane.更多还原