IJE TRANSACTIONS C: Aspects Vol. 31, No. 6 (June 2018) 1239-1247   

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H. Chehardoli and M. Homaienezhad
( Received: August 25, 2017 – Accepted: March 09, 2018 )

Abstract    This paper deals with second-order consensus of inter-connected heterogeneous vehicular platoons by considering collision avoidance and string stability. All previous studies deal with the control design and stability analysis of individual vehicular platoons. Since the traffic flow consists of interaction between heterogeneous platoons, it is necessary to study both the inter-platoon and intra-platoon stability analysis. A second order differential equation is employed to describe the upper level dynamics of each vehicle. Both communication and parasitic delays are investigated in stability analysis. The communication topology of traffic flow is assumed to be unidirectional. By using the feedback information of preceding (leader/following) vehicle’s acceleration, the closed-loop dynamics of traffic flow is decoupled. By introducing new theorems, sufficient conditions on control parameters satisfying inter / intra-platoon asymptotic stability, collision avoidance and string stability are presented. Simulation results are provided to illustrate the effectiveness of the proposed approaches.


Keywords    Heterogeneous traffic flow, Unidirectional topology, Heterogeneous platoon, Internal stability, String stability, Collision avoidance.


چکیده    : در این مقاله به تحلیل پایداری و کنترل جریان ترافیکی ناهمگن با لحاظ ایمنی و پایداری رشته­ای پرداخته می­شود. تمرکز تحقیقات گذشته بر تحلیل پایداری فقط یک گروه خودرو استوار بوده است. از آنجایی که جریان ترافیکی شامل برهم­کنش گروه­های ناهمگن خودرو است، ضرورت مطالعه رفتار بین گروهی و درون­گروهی خودروها وجود دارد. با توجه به حجم زیاد جریان ترفیکی روش­های موجود در تحلیل سیستم­های چندعاملی، پاسخگوی تحلیل جریان ترافیکی نمی­باشد. لذا در این مقاله روشی نوین با استفاده از اطلاعات شتاب خودرو جلو برای دیکاپل کردن معادله حلقه بسته جریان ترافیکی ارائه می­گردد. ساختار ارتباطی به صورت یکسویه درنظر گرفته می­شود و تاخیر زمانی ارتباطی و عملگری در مدل­سازی و کنترل حرکت بین گروهی و درون گروهی لحاظ می­گردد. مدل دیفرانسیل مرتبه دو برای توصیف دینامیک سطح بالای خودرو درنظر گرفته می­شود و شرایط لازم روی پارامترهای کنترلی که متضمن پایداری رشته­ای و ایمنی در جریان ترافیکی باشند ارائه می­گردد. شبیه­سازی­های متعدد برای نشان داده کیفیت روش­های بیان شده ارائه می­گردند.

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