Computation of the exact time delay margin for vehicle platoon under generic communication topologies

IF 7.4 2区 工程技术 Q1 ENGINEERING, CIVIL Journal of Traffic and Transportation Engineering-English Edition Pub Date : 2024-08-01 DOI:10.1016/j.jtte.2022.06.010
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Abstract

Due to the limited bandwidth and transmission congestion of the vehicle platoon's communication, it is inevitable to induce time delay, which significantly degrades the control performance of the vehicle platoon, even resulting in instability. This paper focuses on analyzing the internal stability under generic communication topologies and presents a method of computing the exact time delay margin (ETDM). The proposed method can offer a necessary and sufficient internal stability condition with no conservatism. Firstly, to reduce the analytical complexity and computational burden elegantly, we decompose the closed-loop platoon dynamics into a set of individual subsystems via similarity transformation and matrix factorization. This decomposition approach is applicable for any general communication topology. Secondly, an explicit formula is deduced to compute the ETDM by surveying the characteristic roots' distribution of all these individual subsystems. It is further demonstrated that only the positive purely imaginary roots need to be considered to compute the ETDM. Finally, simulations are conducted to demonstrate the effectiveness of the theoretical claims.

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计算一般通信拓扑结构下车辆排的精确时延裕度
由于车排通信的带宽有限和传输拥塞,不可避免地会引起时间延迟,从而大大降低车排的控制性能,甚至导致不稳定。本文重点分析了一般通信拓扑结构下的内部稳定性,并提出了一种计算精确时延裕度(ETDM)的方法。所提出的方法可以提供一个必要且充分的内部稳定性条件,且不存在保守性。首先,为了优雅地降低分析复杂性和计算负担,我们通过相似性变换和矩阵因式分解将闭环排动力学分解为一组单独的子系统。这种分解方法适用于任何一般通信拓扑结构。其次,通过调查所有这些单独子系统的特征根分布,推导出计算 ETDM 的明确公式。研究进一步证明,计算 ETDM 只需考虑正的纯虚根。最后,我们进行了模拟,以证明理论主张的有效性。
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来源期刊
CiteScore
13.60
自引率
6.30%
发文量
402
审稿时长
15 weeks
期刊介绍: The Journal of Traffic and Transportation Engineering (English Edition) serves as a renowned academic platform facilitating the exchange and exploration of innovative ideas in the realm of transportation. Our journal aims to foster theoretical and experimental research in transportation and welcomes the submission of exceptional peer-reviewed papers on engineering, planning, management, and information technology. We are dedicated to expediting the peer review process and ensuring timely publication of top-notch research in this field.
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