论文标题
连接的车辆排在损失的V2V通信下的连接车辆排的稳定性
String Stability of Connected Vehicle Platoons under Lossy V2V Communication
论文作者
论文摘要
车辆连通性的最新进展允许形成自动驾驶汽车排,以改善活动能力和交通吞吐量。为了避免在这样的排中堆积的堆积,重要的是要确保排(字符串)稳定性,这是这项工作的重点。根据弦稳定性的常规定义,间距误差信号的功率(2-Norm)不应在排中下游放大。但是在实践中,这是间距误差信号的无穷基 - 决定了是否发生碰撞。我们在工作的第一部分中解决了这一差异,从安全的角度来看,我们重新考虑了弦稳定性,并在同质排中对最大间距误差产生上限,这是铅车的加速度操纵的函数。在本文的第二部分中,我们通过为排名第2排的最低可达到的时间前进来扩展我们以前的结果,并通过两种预言的查找方案,经历了爆发的噪声数据包损失。最后,我们利用油门和制动图来开发纵向车辆模型,并针对林肯MKZ进行验证,然后将其用于数值佐证的拟议时间前进选择算法。
Recent advances in vehicle connectivity have allowed formation of autonomous vehicle platoons for improved mobility and traffic throughput. In order to avoid a pile-up in such platoons, it is important to ensure platoon (string) stability, which is the focus of this work. As per conventional definition of string stability, the power (2-norm) of the spacing error signals should not amplify downstream in a platoon. But in practice, it is the infinity-norm of the spacing error signal that dictates whether a collision occurs. We address this discrepancy in the first part of our work, where we reconsider string stability from a safety perspective and develop an upper limit on the maximum spacing error in a homogeneous platoon as a function of the acceleration maneuver of the lead vehicle. In the second part of this paper, we extend our previous results by providing the minimum achievable time headway for platoons with two-predecessor lookup schemes experiencing burst-noise packet losses. Finally, we utilize throttle and brake maps to develop a longitudinal vehicle model and validate it against a Lincoln MKZ which is then used for numerical corroboration of the proposed time headway selection algorithms.