车路协同下多智能车辆大范围渐进稳定模态的聚合解析与自适应控制

项目名称： 车路协同下多智能车辆大范围渐进稳定模态的聚合解析与自适应控制

项目编号： No.51208500

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 建筑环境与结构工程学科

项目作者： 张荣辉

作者单位： 中国科学院新疆理化技术研究所

项目金额： 25万元

中文摘要： 多智能车辆的安全行驶与集群控制，是一类车联网架构中多智能体元素集的自治模式，能实现开放动态条件下资源有序、灵活、按需的自主协作，以有效提高交通运输体系的交互性、安全性、智能性。 针对智能车辆混合编队协同控制的非完整约束描述过程，运用主从微分对策理论剖析自治主体的行为决策依据，研究其协同进程中局部目标与共同目标的不一致性问题，进而解析车路协同环境下资源的有效聚合；基于现代控制理论和动态连续时空信息，建立自治行驶混合编队的非线性数学模型，探索该类自治系统大范围渐进稳定模态间的多模演化规律，并通过协同神经网络规则验证平衡点稳定模态的一致收敛性；最后，围绕实时工况设计动态寻优的模型参考自适应控制器，采用仿真实验手段验证自主协同混合编队行驶控制器的鲁棒稳定性和动态性能。 拟通过上述研究，为实现基于车路协同的多智能车辆混合编队行驶控制提供理论支撑，对提高车辆行驶中事故主动预防能力具有重要的现实意义。

中文关键词： 资源聚合；自治协同；多模演化；非线性控制；智能车路系统

英文摘要： Multi-intelligent vehicles' safe driving and cluster control, which is a class of autonomous mode for multi-agent sets in car networking environment. It can carry out the resource's self-demand collaboration flexibly in open and dynamic conditions, and improve the transportation system interactivity, security and intelligence effectively. For describing the nonholonomic constraint process of mixed intelligent vehicles fleet, we use differential game theory analysis the behavior and decision-making basis of autonomous body. And we study the inconsistencies between local goals and common goals during collaborative process, to resolve resources effective polymerization problem in the Cooperative Vehicle Infrastructure System（CVIS）.Based on modern control theory and dynamic continuous space-time information, we establish non-linear mathematical model for the self-driving hybrid fleet. It is useful for exploring multi-modes modal evolution laws in this autonomous system with global stability, and the uniform convergence of stable modals near equilibrium point is validated by through collaborative neural network rules. Finally, The model reference adaptive controller was designed which focusing on real-time dynamic operating conditions, then we use simulation and experiment tools verify the robust stability and dynam

英文关键词： Resource aggregation；Autonomy collaborative angent；Modal evolution laws；Non-linear control；Intelligent Vehicle-Highway System