基于延迟补偿的网联式自主驾驶车辆协同控制

doi:10.16182/j.issn1004731x.joss.17-0240

系统仿真学报 ›› 2019, Vol. 31 ›› Issue (7): 1448-1459.doi: 10.16182/j.issn1004731x.joss.17-0240

基于延迟补偿的网联式自主驾驶车辆协同控制

朱政泽¹, 周海鹰^1,*, 付勇智¹, 周奎¹, 王思山¹, 龚家元¹, 邓思豪², 侯昆明³

1. 湖北汽车工业学院,汽车主动安全与智能驾驶研究所,湖北十堰 442000;
2. 法国贝尔福蒙贝利亚技术大学,ICB国家实验室,法国贝尔福 90010;
3. 法国克莱蒙奥弗涅大学,LIMOS国家实验室,法国克莱蒙费朗 63170

收稿日期:2017-05-19 修回日期:2017-07-09 发布日期:2019-12-12
作者简介:朱政泽(1988-),男,湖北,硕士,研究方向为智能驾驶。
基金资助:
湖北省自然科学基金(2015CFB686), 湖北省高等学校优秀中青年科技创新团队计划(T201610), 湖北省科技支撑计划项目-对外合作类(N^o2017AHB048)

Cooperative Control Technology of Networked Autonomous Driving Vehicle Based on Delay Compensation

Zhu Zhengze¹, Zhou Haiying^1,*, Fu Yongzhi¹, Zhou Kui¹, Wang Sishan¹, Gong jiayuan¹, Deng Sihao², Hou Kunming³

1. Hubei University of Automotive Technology, Research Center of Active Safety and Intelligent Driving, Shiyan 442000, China;
2. ICB Laboratory, UMR 6303 CNRS, Univ. Bourgogne Franche-Comté, UTBM, F-90010 Belfort, France;;
3. LIMOS Laboratory, UMR 6158 CNRS, University of Clermont Auvergne, 63170, Clermont-Ferrand, France

Received:2017-05-19 Revised:2017-07-09 Published:2019-12-12

摘要/Abstract

摘要： 针对智能交通领域多车协同驾驶中存在的通信信息乱序、丢包问题,研究网联式自主驾驶车辆协同控制技术,建立基于零阶保持(Zero Order Hold, ZOH)信息处理机制的自主驾驶车队控制模型,通过非线性系统状态估计算法进行延迟补偿,使得车队控制模型在复杂汽车行驶环境下保持有效。通过构建由多辆实车组成的网联式自主驾驶车队,在封闭道路环境下进行协同驾驶编队测试,结合网络传输及传感器数据进行模型仿真,验证了模型在实车编队环境下的稳定性、有效性和实用性。

关键词: 自主驾驶车队, 协同控制技术, 零阶保持, 通信延迟误差补偿

Abstract: In view of the disordered and lost packets problems in intelligent transportation system, this paper studies the cooperative control technology of autonomous driving vehicle and proposes an autonomous platoon-driving model based on Zero Order Hold (ZOH) information processing mechanism. A dedicated nonlinear state estimation algorithm is used to compensate for the delay so the platoon-driving model remains valid under the complex vehicle driving environments. A real autonomous driving platoon is tested in a vehicle proving ground for cooperative driving. The analysis of the experimental data and simulation results based on the real networked autonomous driving system verified the stability, validity and practicability of the platoon-driving model.

Key words: autonomous driving platoon, cooperative control technology, Zero Order Hold (ZOH), communication delay error compensation

中图分类号:

朱政泽, 周海鹰, 付勇智, 周奎, 王思山, 龚家元, 邓思豪, 侯昆明. 基于延迟补偿的网联式自主驾驶车辆协同控制[J]. 系统仿真学报, 2019, 31(7): 1448-1459.

Zhu Zhengze, Zhou Haiying, Fu Yongzhi, Zhou Kui, Wang Sishan, Gong jiayuan, Deng Sihao, Hou Kunming. Cooperative Control Technology of Networked Autonomous Driving Vehicle Based on Delay Compensation[J]. Journal of System Simulation, 2019, 31(7): 1448-1459.

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基于延迟补偿的网联式自主驾驶车辆协同控制

Cooperative Control Technology of Networked Autonomous Driving Vehicle Based on Delay Compensation

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