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基于信号灯状态的燃油最优车速规划与控制

张博 郭戈 王丽媛 王琼

张博, 郭戈, 王丽媛, 王琼. 基于信号灯状态的燃油最优车速规划与控制. 自动化学报, 2018, 44(3): 461-470. doi: 10.16383/j.aas.2018.c160684
引用本文: 张博, 郭戈, 王丽媛, 王琼. 基于信号灯状态的燃油最优车速规划与控制. 自动化学报, 2018, 44(3): 461-470. doi: 10.16383/j.aas.2018.c160684
ZHANG Bo, GUO Ge, WANG Li-Yuan, WANG Qiong. Vehicle Speed Planning and Control for Fuel Consumption Optimization with Traffic Light State. ACTA AUTOMATICA SINICA, 2018, 44(3): 461-470. doi: 10.16383/j.aas.2018.c160684
Citation: ZHANG Bo, GUO Ge, WANG Li-Yuan, WANG Qiong. Vehicle Speed Planning and Control for Fuel Consumption Optimization with Traffic Light State. ACTA AUTOMATICA SINICA, 2018, 44(3): 461-470. doi: 10.16383/j.aas.2018.c160684

基于信号灯状态的燃油最优车速规划与控制

doi: 10.16383/j.aas.2018.c160684
基金项目: 

国家自然科学基金 61573077

国家自然科学基金 61273107

详细信息
    作者简介:

    张博 大连理工大学控制理论与控制工程专业硕士研究生.2010年获得大连理工大学电子信息与电气工程学部自动化专业学士学位.主要研究方向为车辆协作控制.E-mail:zhangbo_dut@163.com

    王丽媛 大连民族大学讲师.2016年获得大连理工大学控制理论与控制工程专业博士学位.主要研究方向为车路协同控制, 网络控制理论.E-mail:wangliyuandmu@163.com

    王琼 大连理工大学控制理论与控制工程专业博士.主要研究方向为车辆协作控制.E-mail:wangqiong0705@163.com

    通讯作者:

    郭戈 东北大学教授.1998年获得东北大学控制理论与控制工程专业博士学位.主要研究方向为网络控制理论, 过程控制, 车路协同控制, 移动机器人控制.本文通信作者.E-mail:geguo@yeah.net

Vehicle Speed Planning and Control for Fuel Consumption Optimization with Traffic Light State

Funds: 

National Natural Science Foundation of China 61573077

National Natural Science Foundation of China 61273107

More Information
    Author Bio:

    Master student in control theory and control engineering, Dalian University of Technology. She received her bachelor degree from the Department of Electronic Information and Electrical Engineering, Dalian University of Technology in 2010. Her main research interest is vehicle cooperative control

    Lecturer at Dalian Nationalities University. She received her Ph. D. degree from Dalian University of Technology in 2016. Her research interest covers vehicular cooperative control, networked control system theory

    Ph. D. candidate in control theory and control engineering, Dalian University of Technology. Her main research interest is vehicle cooperative control

    Corresponding author: GUO Ge Professor at Northeastern University. He received his Ph. D. degree from Northeastern University in 1998. His research interest covers networked control system theory, process control, vehicular cooperative control, and mobile robot control. Corresponding author of this paper
  • 摘要: 基于车联网(Vehicular ad hoc networks,VANETs)进行车辆和信号灯的协同控制是下一代智能交通系统(Intelligent transportation systems,ITSs)中非常重要的核心技术之一.本文提出了一种预测信号灯信息的车辆低油耗环保驾驶控制系统.首先,根据道路信息和牛顿第二定律建立车辆动态模型,根据系统测量的信号灯状态信息,获得车辆避免刹车情况下通过前方信号灯的参考速度.然后,结合基于油耗模型和速度跟踪的综合优化指标,运用模型预测控制(Model predictive control,MPC)方法计算车辆的最优控制输入,并利用Laguerre函数方法对MPC问题进行求解.仿真表明,该系统可减少路口不必要的停车和刹车操作,节约燃油.
    1)  本文责任编委 侯忠生
  • 图  1  信号灯循环状态

    Fig.  1  The state of the traffic light cycle

    图  2  基于信号灯信息的车辆驾驶距离曲线

    Fig.  2  The vehicle driving distance curve with\\ traffic light information

    图  3  速度跟踪曲线

    Fig.  3  The speed tracking curve

    图  4  MPC车辆输入曲线

    Fig.  4  The input curve of the MPC-vehicle

    图  5  MPC车辆输入差值曲线

    Fig.  5  The input difference curve of the MPC-vehicle

    图  6  车辆油耗曲线

    Fig.  6  The input curve of the MPC-vehicle

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出版历程
  • 收稿日期:  2016-09-23
  • 录用日期:  2017-03-02
  • 刊出日期:  2018-03-20

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