Performance-monitored Fault-tolerant Control for Cooperative Lane-changing of Connected Vehicular Platoons Under Multi-level Failures
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摘要: 针对由涵盖执行器部分至完全失效的多级故障所导致的网联车队决策?执行层协调失配问题, 提出一种融合跟踪精度与收敛速度监督的协同变道容错控制方法. 首先, 针对变道决策规划参数不当引发的快速性与平稳性冲突问题, 设计一种基于可变安全时窗的目标轨迹规划机制, 规避相邻车道动态障碍车碰撞风险, 实现变道过程快速响应与乘客舒适性的动态权衡. 其次, 针对多级故障、饱和输入与欺骗攻击耦合造成的执行层轨迹跟踪失控问题, 构建一种集成分布式扰动近似技术的性能监督容错跟踪控制策略, 确保队列跟踪精度与收敛速度在预设时间内恢复到指定范围内, 消除对故障因子非零的强假设条件. 接着, 针对多级故障过渡阶段安全时窗非光滑突变引发的决策−执行层协调失配问题, 提出一种基于性能过渡映射的自适应协同变道控制方法, 确保决策层与执行层动态双向交互调节, 保障车队一致跟踪目标轨迹并安全完成变道. 最后, 通过仿真实验验证了所提方法的有效性.Abstract: To address the problem of coordination mismatch between the decision-making and execution levels of connected vehicular platoons caused by multi-level failures ranging from partial to full actuator faults, a cooperative lane-changing fault-tolerant control method integrating supervision of tracking accuracy and convergence rate is proposed. Firstly, to address the conflict problem between rapidity and smoothness caused by improper lane-changing decision-making planning parameters, a target trajectory planning mechanism based on a variable safe time window is designed to mitigate collision risks posed by dynamic obstacle vehicles in adjacent lanes, thereby achieving dynamic trade-off between rapid response and passenger comfort during lane-changing process. Secondly, to address the loss problem of trajectory tracking control at the execution level due to the coupling of multi-level failures, saturation input, and deception attacks, a performance-monitored fault-tolerant tracking control strategy integrating distributed disturbance approximation technology is constructed to ensure that platoon tracking accuracy and convergence rate are restored into the specified range within the prescribed time while eliminating the strong assumption of non-zero fault factor. Then, to address the coordination mismatch problem between the decision-making and execution levels caused by the non-smooth change of safe time window during the transition phase of multi-level failures, an adaptive cooperative lane-changing control method based on a performance transition mapping is proposed to ensure dynamic bidirectional interaction and adjustment between the two levels, while guaranteeing that the vehicular platoon consistently tracks the target trajectory to complete lane-changing safely. Finally, the effectiveness of the proposed method is verified by simulation experiment.
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图 9 具有双冗余执行器的容错车辆结构
Fig. 9 Architecture of fault-tolerant vehicle with dual-redundant actuators
图 10 整个队列变道过程的纵向跟踪误差
Fig. 10 The longitudinal tracking error during the entire platoon lane-changing process
表 1 包络映射的一些示例
Table 1 Some examples of envelope mapping
类型 $ \Psi(\Phi_{pz_i}) $ $ \dfrac{\partial \Psi(\Phi_{pz_i})}{\partial\Phi_{pz_i}} $ $ \dfrac{\partial^2 \Psi(\Phi_{pz_i})}{\partial\Phi_{pz_i}^2} $ 1 $ {{\rm{ln}}}\left(\dfrac{1+\Phi_{pz_i}}{1-\Phi_{pz_i}}\right) $ $ \dfrac{2}{1-\Phi_{pz_i}^2} $ $ \dfrac{4\Phi_{pz_i}}{\left(1-\Phi_{pz_i}^2\right)^2} $ 2 $ {{\rm{tan}}}\left(\dfrac{\pi}{2}\Phi_{pz_i}\right) $ $ \dfrac{\pi\sec^2\left(\dfrac{\pi}{2}\Phi_{pz_i}\right)}{2} $ $ \dfrac{\pi^2{{\rm{sin}}}\left(\dfrac{\pi}{2}\varPhi_{pz_i}\right)}{2{{\rm{cos}}}^3\left(\dfrac{\pi}{2}\Phi_{pz_i}\right)} $ 3 $ \dfrac{2\Phi_{pz_i}}{\left(1+\Phi_{pz_i}\right)\left(1-\Phi_{pz_i}\right)} $ $ \dfrac{2+2\Phi_{pz_i}^2}{\left(1-\Phi_{pz_i}^2\right)^2} $ $ \dfrac{12\Phi_{pz_i}+4\Phi_{pz_i}^3}{\left(1-\Phi_{pz_i}^2\right)^3} $ 
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