| 商用半挂车队列纵向运动协同控制及仿真 |
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| 引用本文： | 陈明哲,冀杰,唐志荣,吴明阳.商用半挂车队列纵向运动协同控制及仿真[J].重庆大学学报(自然科学版),2018,41(9):39-47. |
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| 作者姓名： | 陈明哲 冀杰 唐志荣 吴明阳 |
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| 作者单位： | 西南大学工程技术学院 |
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| 基金项目： | 国家自然科学基金青年基金资助项目（61304189），重庆市前沿与应用基础研究计划一般资助项目（cstc2015jcyjA60007）和中央高校基本业务费专项资金重点资助项目（XDJK2015B028）。 |
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| 摘 要： | 基于滑模控制理论设计了一种适用于商用半挂车队列行驶的协同自适应巡航控制算法,并分别采用相邻两车车间通信和领车与跟随车辆直接通信两种通信方式对商用半挂车队进行纵向运动控制,在MATLAB/simulink和Trucksim软件环境下进行联合仿真及性能对比。仿真结果表明,与相邻两车车间通信方式相比较,采用领车与跟随车辆直接通信的方式可以有效缩短每辆跟踪车辆的响应时间和相应的行车间距,增强车队稳定性和安全性,提高道路通行能力。
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| 关 键 词： | 商用半挂车 滑模控制 车间通信 联合仿真 车队稳定性 |
| 收稿时间： | 2018/3/12 0:00:00 |
Cooperative longitudinal control and simulation of commercial semi-trailers' platoon |
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| CHEN Mingzhe,JI Jie,TANG Zhirong and WU Mingyang.Cooperative longitudinal control and simulation of commercial semi-trailers' platoon[J].Journal of Chongqing University(Natural Science Edition),2018,41(9):39-47. |
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| Authors: | CHEN Mingzhe JI Jie TANG Zhirong and WU Mingyang |
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| Institution: | College of Engineering and Technology, Southwest University, Chongqing 400715, P. R. China,College of Engineering and Technology, Southwest University, Chongqing 400715, P. R. China,College of Engineering and Technology, Southwest University, Chongqing 400715, P. R. China and College of Engineering and Technology, Southwest University, Chongqing 400715, P. R. China |
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| Abstract: | A cooperative adaptive cruise control algorithm is designed for commercial semi-trailers'' platoon based on sliding mode control theory. Two inter-vehicle communication modes, the communication between adjacent vehicles and that between leading vehicle and following vehicles, are adopted for longitudinal motion control of commercial semi-trailers'' platoon. Then, the performance of the designed controller is illustrated and compared with computer simulations using MATLAB and TruckSim software. Simulation results showthat, compared with the communication between adjacent vehicles, the communication between leading vehicle and following vehicles can reduce the response time and the inter-vehicle space effectively. Besides, it can increase the stability and safety of semi-trailers'' platoon, improving the traffic capacity. |
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| Keywords: | commercial semi-trailers sliding mode control inter-vehicle communications co-simulation platoon stability |
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