| 网联通信时延下的混合队列控制特性分析 |
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| 引用本文： | 许庆,王嘉伟,王建强,李克强,高博麟.网联通信时延下的混合队列控制特性分析[J].交通信息与安全,2021,39(1):128-136. |
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| 作者姓名： | 许庆 王嘉伟 王建强 李克强 高博麟 |
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| 作者单位： | 清华大学车辆与运载学院 北京 100084 |
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| 基金项目： | 广东省重点领域研发计划项目;清华-滴滴未来出行联合研究中心支持项目资助;国汽智联-清华联合研究项目;国家自然科学基金面上基金项目 |
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| 摘 要： | 针对CACC协同自适应巡航控制技术，探究其在车联网通信时延影响下，与驾驶员驾驶汽车共存而构成的混合队列系统的性能。从微观跟车行为角度，基于频域传递函数，推导通信时延下的CACC队列稳定最小跟车时距的理论表达式，并通过数值验证指出CACC队列稳定最小跟车时距随通信时延增大而增大的特性。从交通激波特性角度，针对无时延CACC、有时延CACC和时延过大而退化后的ACC自适应巡航3种情形，给定相同的跟车时距，进行不同渗透率下的大规模交通仿真实验，实验结果表明，在无时延和1 s时延这2种情形下，CACC在20%及以上的渗透率时均能显著降低交通扰动，削弱激波，性能差别不明显; 相比而言，退化后的ACC性能明显恶化。
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| 关 键 词： | 智能网联汽车 协同自适应巡航控制 混合队列特性分析 交通仿真 通信时延 队列稳定性 渗透率 |
| 收稿时间： | 2020-10-25 |
A Performance Analysis of Mixed Platoon Control under Communication Delay |
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| XU Qing,WANG Jiawei,WANG Jianqiang,LI Keqiang,GAO Bolin.A Performance Analysis of Mixed Platoon Control under Communication Delay[J].Journal of Transport Information and Safety,2021,39(1):128-136. |
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| Authors: | XU Qing WANG Jiawei WANG Jianqiang LI Keqiang GAO Bolin |
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| Affiliation: | School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China |
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| Abstract: | Based on technologies of automatic control and wireless communication, e.g., vehicle-to-vehicle(V2V)communication, intelligent and connected vehicles(ICVs)are believed to improve traffic performance significantly. This paper investigates the performance of mixed platoon systems consisting of ICVs, adopting cooperative adaptive cruise control(CACC), and human-driven vehicles(HDVs)under the influences of communication delay in vehicular networks. From microscopic car-following behaviors, the minimum time headway for string stability is obtained based on the frequency-domain transfer function and increases as time delay grows up, verified by numerical calculation. Large-scale traffic simulations under multiple penetration rates are conducted from traffic shockwaves, with three cases under consideration, including CACC without delay, CACC with delay, and adaptive cruise control(ACC), which degrades from CACC at an extensively considerable delay. Given the same headway for the three cases, extensive simulation results show that CACC without delay or with a communication delay of 1 s can reduce traffic perturbations and dampen traffic shockwaves, with no evident performance gaps. By contrast, ACC achieves a much worse performance compared to CACC. |
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