论文标题
连接和自动化的车辆排组成通过差速器控制
Connected and Automated Vehicle Platoon Formation Control via Differential Games
论文作者
论文摘要
在这项研究中，在差异游戏框架下解决了连接和自动化的车辆（CAVS）排量问题。这里考虑了三个信息拓扑。首先，利用了前身（PF）拓扑结构，其中车辆通过基于传感器链路的信息流进行了相对于仅最近的前任的距离。其次，利用了两个pred recure-tollow-wolding拓扑（TPF），每个车辆都相对于两个最近的前任控制距离。在此拓扑结构中，第二个前身是通过车辆到车辆（V2V）链接传达的。这两个信息拓扑结构以封闭形式得出了纳什平衡下的骑士的个别轨迹。最后，检查了一般信息拓扑，并在这种情况下制定了差异游戏。在所有这些选择中，蓬蒂拉金的原理都被用来研究纳什平衡的存在和独特性并获得相应的轨迹。在一般拓扑中，我们假设特征值和特征向量的数值计算。所有这些方法代表了差异游戏中骑士排的有前途且有力的分析表现。仿真实验验证了所提出的模型及其解决方案的效率。
In this study, the connected and automated vehicles (CAVs) platooning problem is resolved under a differential game framework. Three information topologies are considered here. Firstly, Predecessor-following (PF) topology is utilized where the vehicles control the distance with respect to the merely nearest predecessor via a sensor link-based information flow. Secondly, Two-predecessor-following topology (TPF) is exploited where each vehicle controls the distance with respect to the two nearest predecessors. In this topology, the second predecessor is communicated via a Vehicle-to-vehicle (V2V) link. The individual trajectories of CAVs under the Nash equilibrium are derived in closed-form for these two information topologies. Finally, general information topology is examined and the differential game is formulated in this context. In all these options, Pontryagin's principle is employed to investigate the existence and uniqueness of the Nash equilibrium and obtain its corresponding trajectories. In the general topology, we suppose numerical computation of eigenvalues and eigenvectors. All these approaches represent promising and powerful analytical representations of the CAV platoons under the differential games. Simulation experiments have verified the efficiency of the proposed models and their solutions.
