基于时间-事件混合触发的车辆队列输出反馈控制

doi:10.3785/j.issn.1008-973X.2026.02.018

浙江大学学报(工学版)

2026, Vol. 60

Issue (2): 396-403 DOI: 10.3785/j.issn.1008-973X.2026.02.018

交通工程、土木工程

基于时间-事件混合触发的车辆队列输出反馈控制

杨盼盼(

),梁长正,闫茂德,孟宇航

长安大学电子与控制工程学院，陕西西安 710064

Time-event hybrid-triggered output feedback control for vehicle platoons

Panpan YANG(

),Changzheng LIANG,Maode YAN,Yuhang MENG

School of Electronics and Control Engineering, Chang’an University, Xi’an 710064, China

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摘要：

针对车辆部分状态信息不可测量，并考虑控制性能与通信资源的平衡问题，提出基于时间-事件混合触发的车辆队列输出反馈控制方法. 考虑传感器成本及数据获取精度导致的车辆部分状态信息不可测量问题，利用车辆位置信息设计状态观测器对无法测量的速度、加速度信息进行估计，使估计误差趋近于任意小的重构误差. 提出时间-事件混合触发机制，当车辆运动状态波动较大时，采用时间触发机制降低系统跟踪误差；当车辆稳态运动时，切换至事件触发机制以节省通信资源. 设计基于反步法的输出反馈控制器，实现仅基于车辆位置信息的队列控制. 理论分析证明，所提方法性能稳定，使用时间-事件混合触发机制能够有效排除芝诺（Zeno）行为. 在市郊驾驶循环（EUDC）工况下的仿真实验结果表明，相较于单一的时间或事件触发方式，所提方法能够在保证车辆队列控制性能的同时显著节省通信资源.

关键词： 车辆队列; 时间-事件混合触发; 输出反馈; 状态观测器; 反步控制

Abstract:

The time-event hybrid-triggered output feedback control method for vehicle platoons was proposed in consideration of the unmeasurable partial state information and the balance between control performance and communication resources. For the unknown states of vehicles due to sensor cost and data acquisition accuracy, an observer that estimates the unknown velocity and acceleration from position was designed, achieving an arbitrarily small reconstruction error. A novel time-event hybrid-triggered mechanism was developed: the time-triggered mechanism was applied in a state fluctuation process to achieve the convergence of the tracking error, and the system switched to the event-triggered fashion in a steady state to reduce the communication resources. By employing the backstepping control technique, an output-feedback controller was devised to achieve platoon control using only position information. The stability of the proposed method and the avoidance of the Zeno phenomenon using the time-event hybrid-triggered mechanism were demonstrated through theoretical analysis. Simulation results under the extra urban driving cycle (EUDC) show that, compared with the single time/event-triggered mechanism, the proposed method maintains platoon control performance while significantly reducing communication resources.

Key words: vehicle platoon time-event hybrid trigger output feedback state observer backstepping control

收稿日期: 2025-02-12 出版日期: 2026-02-03

CLC:

TP 273

基金资助: 国家自然科学基金资助项目（52372406）；陕西省重点研发计划资助项目（2024GX-YBXM-258）.

作者简介: 杨盼盼（1985—），男，副教授，从事智能网联汽车队列控制研究. orcid.org/0000-0002-4450-9453. E-mail：panpanyang@chd.edu.cn

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引用本文:

杨盼盼,梁长正,闫茂德,孟宇航. 基于时间-事件混合触发的车辆队列输出反馈控制[J]. 浙江大学学报(工学版), 2026, 60(2): 396-403.

Panpan YANG,Changzheng LIANG,Maode YAN,Yuhang MENG. Time-event hybrid-triggered output feedback control for vehicle platoons. Journal of ZheJiang University (Engineering Science), 2026, 60(2): 396-403.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2026.02.018 或 https://www.zjujournals.com/eng/CN/Y2026/V60/I2/396

图 1 领航-跟随拓扑结构的车辆队列

图 2 所提方法的系统控制结构图

图 3 市郊驾驶循环工况下的车辆速度

图 4 车辆队列控制仿真结果

图 5 车辆信号采样间隔

图 6 速度与加速度的状态估计误差曲线

表 1 不同触发机制下的触发次数

图 7 不同触发机制下的跟踪误差

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