论文标题
城市环境中异质排的生态驾驶轨迹计划
Eco-driving Trajectory Planning of a Heterogeneous Platoon in Urban Environments
论文作者
论文摘要
鉴于对互联和自动驾驶汽车（CAV）的普及和需求越来越多，在高速公路和城市地区提高交通系统效率的高速公路驾驶和排队已成为可能性。本文介绍了城市环境中异质电动汽车（EV）排的生态驾驶轨迹计划。该排的拟议控制策略考虑了能源消耗，流动性和乘客舒适性，车辆可以通过该交叉路口通过，而无需停止。首先，对于给定的城市路线，排长的车辆采用动态编程（DP）来计划预期路径的轨迹，以平衡能源消耗，流动性和乘客舒适性。然后，排在排中的其他骑士要么使用基于PID的合作自适应巡航控制效果遵循其先前的车辆，要么通过检查它是否可以通过下一个交叉路口而不停止来计划自己的轨迹。此外，一种无法有效遵循轻型车辆的重型车辆将采用基于DP的轨迹计划者。仿真研究表明，所提出的控制策略的功效表明，该排的能源消耗在不损害迁移率的同时降低了。
Given the increasing popularity and demand for connected and autonomous vehicles (CAVs), Eco-driving and platooning in highways and urban areas to increase the efficiency of the traffic system is becoming a possibility. This paper presents Eco-driving trajectory planning for a platoon of heterogeneous electric vehicles (EVs) in urban environments. The proposed control strategy for the platoon considers energy consumption, mobility and passenger comfort, with which vehicles may pass signalized intersections with no stops. For a given urban route, first, the platoon's leader vehicle employs dynamic programming (DP) to plan a trajectory for the anticipated path with the aim of balancing energy consumption, mobility and passenger comfort. Then, every other following CAV in the platoon either follows its preceding vehicle using a PID-based cooperative adaptive cruise control or plans its own trajectory by checking whether it can pass the next intersection without stopping. Furthermore, a heavy-duty vehicle that cannot efficiently follow a light-weight vehicle would instead employ the DP-based trajectory planner. Simulation studies demonstrate the efficacy of the proposed control strategy with which the platoon's energy consumption is shown to reduce while the mobility is not compromised.
