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摘要: 针对当前交通拥堵现状，考虑车辆间通信受限或故障条件下，基于现有路侧设施以及邻车相对位置、相对速度提出一种车队控制的通用可变时距策略（Variable time headway policy，VTHP）.通过选择可变行驶时间距离参数，建立形式统一的车间距策略及其误差模型，并根据单车、队列以及交通流稳定性分析，综合设计控制器，同时将分析方法推广到固定间距策略（Constant spacing policy，CSP）与固定时距策略（Constant time headway policy，CTHP）中.依据上述稳定性结果给出一种物理意义明确的可变行驶时距计算方法，并得到该时距的变化界限，从而更准确快速地控制车距安全.仿真结果表明，本文提出的通用可变时距策略及相关计算方法，不但可实现车队与交通流的稳定控制，而且可改善车队综合性能.Abstract: In view of the current situation of traffic congestion, a general variable time headway policy (VTHP) for platoon control based on the existing roadside facilities and the relative position and speed of adjacent vehicles is proposed under the constraint or fault of communication between vehicles. By selecting variable travel time headway parameters, a uniform spacing policy and its error model between adjacent vehicles are established. Based on the stability analysis of internal vehicle, string and traffic flow under the general VTHP, the controller is designed synthetically. At the same time, the analysis method is extended to constant spacing policy (CSP) and constant time headway policy (CTHP). According to the above stability conditions, a calculation method of variable travel time headway with definite physical significance is given, and the boundary of variable time headway is obtained, so as to control the safety of vehicle spacing more accurately and quickly. The simulation results show that the general VTHP proposed in this paper can not only realize the stable control of the platoon and traffic flow, but also improve the overall performance of the platoon.1) 本文责任编委 李力
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图 1 车队间距控制(虚线代表信息传输方向)
Fig. 1 Spacing control of the platoon (The dotted line represents the direction of information transmission.)
图 3 车间距策略比较(第1~3列图分别采用固定间距、固定时距以及可变时距策略)
Fig. 3 Comparison results with different spacing policies (CSP, CTHP and VTHP are used for column 1 to 3 of the diagram respectively.)
表 1 车队参数说明
Table 1 Platoon parameters explanation
符号 定义 $p_i(t)$, $v_i(t)$, $a_i(t)$ 车辆位置、速度、加速度 $\eta$ 发动机时间常数 $u_{i}(t)$ 每辆车的控制量 $e_i(t)$ 车头间距误差 $\psi_{i}(t)$ 实际车头间距 $l$ 每辆车的长度, 设为常数 $d$ 期望静态间距, 设为常数 $h_{i}(t)$ 车辆间行驶时距 
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表 2 仿真参数
Table 2 Simulation parameters
$k_{pi}$ $k_{vi}$ $\sigma$ $c$ $\sigma_1$ $c_1$ $\mu$ 0.1 1.1 0.05 0.9 0.09 0.7 0.1 注: $k_{pi}$、$k_{vi}$为固定间距策略的控制增益.
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表 3 车队综合性能
Table 3 Comprehensive performance of the platoon
性能指标 车间距策略 固定间距 固定时距 可变时距 行驶时距 0秒 0.9秒 可变 车头间距 8米 23.5米 约20米 单车稳定 是 是 是 队列稳定 否 是 是 交通流稳定 ~ 否 是 车间距误差 4.30米 0.36米 0.30米 速度跟踪 波动大 一致 一致 加速度跟踪 有波动 缓和 精度高 抖动大小 1.2米/秒$^{3}$ 1.25米/秒$^{3}$ 1.5米/秒$^{3}$ 抖动时间 长 较短 短
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