CLC number: U4;TP29
On-line Access: 2022-10-26
Received: 2021-10-24
Revision Accepted: 2022-10-26
Crosschecked: 2022-03-14
Cited: 0
Clicked: 1722
Citations: Bibtex RefMan EndNote GB/T7714
https://orcid.org/0000-0003-3335-8300
https://orcid.org/0000-0003-1602-5651
Zhanyi HU, Yingjun QIAO, Xingyu LI, Jin HUANG, Yifan JIA, Zhihua ZHONG. Design and experimental validation of event-triggered multi-vehicle cooperation in conflicting scenarios[J]. Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/FITEE.2100504 @article{title="Design and experimental validation of event-triggered multi-vehicle cooperation in conflicting scenarios", %0 Journal Article TY - JOUR
冲突场景下基于事件触发的多车协同控制与实验验证1清华大学车辆与运载学院,中国北京市,100084 2中国工程院,中国北京市,100088 3同济大学道路与交通工程教育部重点实验室,中国上海市,200092 摘要:队列系统在提高交通吞吐量和道路安全方面极具潜力,其被广泛用于高速公路上智能网联汽车的协同控制。受队列控制的启发,虚拟队列可以极大地简化冲突场景下智能网联多车系统的协同行驶。车车通信是虚拟队列系统的重要组成部分。在通信资源有限的情况下,大量数据传输必然会出现传输延迟、丢包等缺陷。因此,需要避免不必要的传输,从而建立一个可靠的无线网络。针对这一问题,本文提出一种基于事件触发的鲁棒控制方法,在保证时变不确定性条件下虚拟队列系统稳定性的同时,减少通信资源的利用。本文解析地证明了闭环系统的一致有界性、一致最终有界性和队列稳定性。本文所设计的触发条件考虑了边界信息的不确定性,使阈值估计更加合理。仿真和实验结果表明,该方法可以在多车协作的同时大大减少数据传输。阈值的选取影响跟踪能力和通信负担,其优化方法值得在今后的研究中探索。 关键词组: Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article
Reference[1]Bian YG, Li SE, Ren W, et al., 2020. Cooperation of multiple connected vehicles at unsignalized intersections: distributed observation, optimization, and control. IEEE Trans Ind Electron, 67(12):10744-10754. [2]Castiglione LM, Falcone P, Petrillo A, et al., 2021. Cooperative intersection crossing over 5G. IEEE/ACM Trans Netw, 29(1):303-317. [3]Chen YH, Zhang XR, 2010. Adaptive robust approximate constraint-following control for mechanical systems. J Franklin Inst, 347(1):69-86. [4]Dai PL, Liu K, Zhuge QF, et al., 2016. Quality-of-experience-oriented autonomous intersection control in vehicular networks. IEEE Trans Intell Transp Syst, 17(7):1956-1967. [5]di Bernardo M, Salvi A, Santini S, 2015. Distributed consensus strategy for platooning of vehicles in the presence of time-varying heterogeneous communication delays. IEEE Trans Intell Transp Syst, 16(1):102-112. [6]Ding L, Han QL, Ge XH, et al., 2018. An overview of recent advances in event-triggered consensus of multiagent systems. IEEE Trans Cybern, 48(4):1110-1123. [7]di Vaio MD, Falcone P, Hult R, et al., 2019. Design and experimental validation of a distributed interaction protocol for connected autonomous vehicles at a road intersection. IEEE Trans Veh Technol, 68(10):9451-9465. [8]Dolk V, Heemels M, 2017. Event-triggered control systems under packet losses. Automatica, 80:143-155. [9]Dolk VS, Ploeg J, Heemels MPMH, 2017. Event-triggered control for string-stable vehicle platooning. IEEE Trans Intell Transp Syst, 18(12):3486-3500. [10]Dresner K, Stone P, 2008. A multiagent approach to autonomous intersection management. J Artif Intell Res, 31(1):591-656. [11]Ge XH, Han QL, Zhang XM, 2018. Achieving cluster formation of multi-agent systems under aperiodic sampling and communication delays. IEEE Trans Ind Electron, 65(4):3417-3426. [12]Guo G, Ding L, Han QL, 2014. A distributed event-triggered transmission strategy for sampled-data consensus of multi-agent systems. Automatica, 50(5):1489-1496. [13]Huang S, Sadek AW, Zhao YJ, 2012. Assessing the mobility and environmental benefits of reservation-based intelligent intersections using an integrated simulator. IEEE Trans Intell Transp Syst, 13(3):1201-1214. [14]Li SE, Zheng Y, Li KQ, et al., 2017. Dynamical modeling and distributed control of connected and automated vehicles: challenges and opportunities. IEEE Trans Intell Transp Syst, 9(3):46-58. [15]Li T, Wen CY, Yang J, et al., 2020. Event-triggered tracking control for nonlinear systems subject to time-varying external disturbances. Automatica, 119:109070. [16]Li W, Ban XG, 2020. Connected vehicle-based traffic signal coordination. Engineering, 6(12):1463-1472. [17]Meng Y, Li L, Wang FY, et al., 2018. Analysis of cooperative driving strategies for nonsignalized intersections. IEEE Trans Veh Technol, 67(4):2900-2911. [18]Mirheli A, Tajalli M, Hajibabai L, et al., 2019. A consensus-based distributed trajectory control in a signal-free intersection. Transp Res Part C Emerg Technol, 100:161-176. [19]Morales Medina AI, van de Wouw N, Nijmeijer H, 2018. Cooperative intersection control based on virtual platooning. IEEE Trans Intell Transp Syst, 19(6):1727-1740. [20]Rios-Torres J, Malikopoulos AA, 2017. A survey on the coordination of connected and automated vehicles at intersections and merging at highway on-ramps. IEEE Trans Intell Transp Syst, 18(5):1066-1077. [21]Shen H, Wang Y, Xia JW, et al., 2019. Fault-tolerant leader-following consensus for multi-agent systems subject to semi-Markov switching topologies: an event-triggered control scheme. Nonl Anal Hybr Syst, 34:92-107. [22]Shi YJ, Han QM, Shen WM, et al., 2021. A multi-layer collaboration framework for industrial parks with 5G vehicle-to-everything networks. Engineering, 7(6):818-831. [23]Uno A, Sakaguchi T, Tsugawa S, 1999. A merging control algorithm based on inter-vehicle communication. Proc IEEE/IEEJ/JSAI Int Conf on Intelligent Transportation Systems, p.783-787. [24]Wen SX, Guo G, Chen B, et al., 2018. Event-triggered cooperative control of vehicle platoons in vehicular ad hoc networks. Inform Sci, 459:341-353. [25]Xu B, Li SE, Bian YG, et al., 2018. Distributed conflict-free cooperation for multiple connected vehicles at unsignalized intersections. Transp Res Part C Emerg Technol, 93:322-334. [26]Yu RR, Chen YH, Zhao H, et al., 2019. Self-adjusting leakage type adaptive robust control design for uncertain systems with unknown bound. Mech Syst Signal Process, 116:173-193. [27]Yue W, Wang LY, Guo G, 2017. Event-triggered platoon control of vehicles with time-varying delay and probabilistic faults. Mech Syst Signal Process, 87:96-117. [28]Zheng Y, Li SE, Wang JQ, et al., 2016. Stability and scalability of homogeneous vehicular platoon: study on the influence of information flow topologies. IEEE Trans Intell Transp Syst, 17(1):14-26. Journal of Zhejiang University-SCIENCE, 38 Zheda Road, Hangzhou
310027, China
Tel: +86-571-87952783; E-mail: cjzhang@zju.edu.cn Copyright © 2000 - 2024 Journal of Zhejiang University-SCIENCE |
Open peer comments: Debate/Discuss/Question/Opinion
<1>