高速公路场景下的车辆编队控制

自动驾驶技术的发展旨在减少由人为失误导致的交通事故，提高道路交通安全。目前自动驾驶技术尤其自动驾驶辅助技术已经在实车上得到很好的应用，极大地提高了人们的交通安全和出行便利。而对于汽车数量增加所带来的环境污染和交通拥堵现象，单个车辆的自动驾驶无力解决。5G 技术的发展使得车与车之间
的远距离通讯成为可能，人们开始研究多个车辆之间相互通讯协同配合，共同完成驾驶目标，因此有了车辆编队控制方面的研究。由于自动驾驶车辆的编队实现绝大多数是应用于高速公路场景，因此本文研究高速公路场景下的车辆编队控制。主要研究内容如下：
针对已有的前后车辆通讯拓扑结构的不足，本文建立了具有灵活通讯拓扑的车辆队列模型，提出了相应的领航车辆选择策略。目前已有的前后车辆通讯拓扑会使得车辆队列在应对外界冲击时出现过大的响应，而本文提出的领航车辆选择策略能让跟随车辆在车辆队列受到冲击时调整自身的领航车辆以此降低外界冲击
对自身的影响。仿真结果验证了所提出的领航车辆选择策略的有效性。
出于节省车辆通讯资源考虑，本文将动态事件触发机制应用到车辆队列控制中。与已有的静态事件触发机制相比，动态事件触发机制能更好地权衡通讯资源和车辆队列性能，从而达到更好地减少通讯次数以及提高信道可靠性的目的。
考虑车与车之间的通讯网络会受到外界拒绝服务（Denial of Service, DoS）攻击的影响，本文提出了一种应用于车辆队列的安全控制策略。将模型预测控制应用到队列首车的速度跟踪上，产生预测输入序列作为后续车辆在受到DoS攻击时的参考值。在队列首车按照给定的驾驶任务行驶的情况下，预测信号具有一定的参考价值。仿真结果表明，相较于已有的采样保持策略，安全控制策略能有效降低DoS 攻击对队列的影响。

The development of autonomous driving technology aims to reduce traffic accidents caused by human error and improve road safety. At present, the autonomous driving technology, especially the automatic driving assistance technology, has been well applied in real cars, which greatly improves the traffic safety and travel convenience. As for the environmental pollution and traffic congestion caused by the increase in the number of cars, the autonomous driving of a single vehicle is unable to solve the problem. The development of 5G technology makes vehicle to vehicle long-distance communication possible. Then people begin to study cooperative control of multiple vehicles, which result in the vehicle platoon control research. Since the vehicle platoon is mostly applied to highway scenario, this paper studies the vehicle platoon control in the highway scenario. The main research contents are as follows:
Due to the weakness of the existing leader follower communication topology, a vehicle platoon model with flexible communication topology is established in this paper, and the corresponding leader selection strategy is proposed. When the vehicle platoon is disturbed, the following vehicle can reduce the impact on itself by adjusting its leading vehicle in stead of making excessive response to the external disturbance with the leader follower topology. Simulation results verify the effectiveness of the proposed leader selection strategy.
In order to save vehicle communication resources, dynamic event trigger mechanism is applied to vehicle platoon control in this paper. Compared with the existing static event trigger mechanism, dynamic event trigger mechanism can better balance communication resources and vehicle platoon performance, so as to reduce communication times and improve channel reliability.
In this paper, we propose a security control strategy for the vehicle platoon, considering that the communication network between vehicles can be affected by external Denial of Service (DoS) attacks. The model predictive control (MPC) is applied to the speed tracking of the first vehicle in the platoon, and the predictive input sequence is generated as the reference value of the subsequent vehicle under DoS attack. In the case that the first vehicle is driving according to the given driving task, the prediction signal has certain reference value. The simulation results show that the security control strategy can effectively reduce the influence of DoS attack on platoon compared with the existing sampling hold strategy.

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