在通信中断场景中,分布式滑动模式控制方法具有适应式间距政策,用于通信中断场景中的车辆排队
Jianqiang Wang1, Ting Tong2, Jianzhong Cao2
1School of Traffic and Transportation, Lanzhou Jiaotong University, Lanzhou, 730070, Gansu, China. xinxiwjq@126.com.
Scientific reports
|July 2, 2025
概括
本研究引入了连接和自动驾驶汽车 (CAV) 排队的双层框架,以提高通信中断期间的稳定性. 该系统提高了安全性,实现了更快的同步,超过了传统方法.
科学领域:
- 控制系统工程 控制系统工程
- 运输工程 运输工程
- 网络化系统 网络化系统
背景情况:
- 连接和自动驾驶车辆 (CAV) 排队的通信中断严重降低了排队的稳定性.
- 现有的控制策略通常在动态的通信环境下难以保持稳定.
研究的目的:
- 提出一个强大的双层框架,将自适应间距政策切换和分布式指数滑动模式控制 (DESMC) 结合起来,以提高CAV中队的稳定性.
- 为了减轻通信故障对车辆动态的影响,并确保安全运行.
主要方法:
- 混合自适应间隔策略基于实时通信指标 (数据包损失>5%或RSSI<-90 dBm) 动态切换恒定间隔 (CS) 和恒定时间进度 (CTH).
- 有指数接近法则的分布式指数滑动模式控制 (DESMC) 实现了精确的速度和加速控制.
- 利亚普诺夫理论和无限规范分析被用来验证在时间延迟下系统稳定性和字符串稳定性.
主要成果:
- 与纯粹的CS相比,紧急制动减少了85%.
- 与传统方法相比,速度根平均平方误差 (RMSE) 减少了1.16%,加速度振荡减少了21.71%.
- 在故障时实现了8.7米的安全距离,超过ETC标准8.75%,在35秒内进行排队同步 (16.7%更快),稳定状态误差为±0.15米.
结论:
- 拟议的双层框架显著提高了CAV中队在动态通信环境中的强度和稳定性.
- 与传统控制器相比,DESMC提供了更高的流性和稳定性,支持支持5G-V2X的运输系统.
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