论文标题
关于具有不同通信范围的车辆排在车辆的障碍传播
On Disturbance Propagation in Vehicular Platoons with Different Communication Ranges
论文作者
论文摘要
为了控制车辆排,在一辆车上作用的干扰会传播并影响其他车辆。如果干扰不会沿车辆串扩大,则称为弦稳定。但是,通常很难使用分布式控制设置实现字符串稳定性,尤其是在考虑恒定间距策略时。本说明考虑了绳子不稳定的案例,并研究了非线性车辆排中的干扰繁殖,该排行管由$ n+1 $ $ $ $ n+1 $车辆组成,该车辆(虚拟)领先的车辆为持续的间距政策提供了参考。除了连续车辆之间的通信外,我们还假设每辆车都可以从前方的$ r $ neighbors接收信息,也就是说,车辆排具有通信范围$ r $。为了使车载间距错误的最大冲动误差,我们明确地表明,干扰的效果,包括作用于每辆车的外部干扰以及领先的车辆的加速度,按$ o(\ sqrt {\ sqrt {\ left \ left \ left \ left \ lceil \ lceil \ frac \ frac \ frac {n} n} {r} {r} {rce n $ n $ rce $ rceiL})这意味着可以通过增加沟通范围来减少干扰传播。提供数值模拟以说明主要结果。
In the control of vehicular platoons, the disturbances acting on one vehicle can propagate and affect other vehicles. If the disturbances do not amplify along the vehicular string, then it is called string stable. However, it is usually difficult to achieve string stability with a distributed control setting, especially when a constant spacing policy is considered. This note considers the string unstable cases and studies disturbance propagation in a nonlinear vehicular platoon consisting of $n+1$ vehicles where the (virtual) leading vehicle provides the reference for a constant spacing policy. Apart from the communications between consecutive vehicles, we also assume that each vehicle can receive information from $r$ neighbors ahead, that is, the vehicular platoon has communication range $r$. For the maximal overshoot of the inter-vehicular spacing errors, we explicitly show that the effect of disturbances, including the external disturbances acting on each vehicle and the acceleration of the leading vehicle, is scaled by $O(\sqrt{ \left \lceil \frac{n}{r} \right \rceil})$ for a fixed $n$. This implies that disturbance propagation can be reduced by increasing communication range. Numerical simulation is provided to illustrate the main results.