Fleet formation control device and formation control method based on information physical network

Abstract

The invention provides a fleet formation control device and a formation control method based on an information physical network, wherein a fleet comprises navigation vehicles (Ri) and following vehicles (Rj); a fleet intelligent obstacle avoiding device arranged on each vehicle of the fleet comprises a vehicle external sensor module (1), a GPS positioning module (2), a wireless communication module (3) and a central processing unit module (4); the central processing unit module (4) used for realizing communication and application protocols receives speed and position information of the vehicle through the GPS positioning module (2) and processes the speed and position information; and when an infrared sensor (5) senses that an obstacle object exist in the front, the central processing unit module (4) obtains linear speeds and angular speeds of the navigation vehicles (Ri) and the following vehicles (Rj) by means of formula calculation, and the navigation vehicles (Ri) and the following vehicles (Rj) send the obtained linear speeds (vj) and angular speeds (wj) to a vehicle controller (7) through a CAN bus so as to ensure the fleet to advance in a formation manner.

Description

technical field [0001] The invention belongs to the field of vehicle networking navigation control, and relates to a vehicle formation control device and a formation control method equipped with a vehicle information physical network. Background technique [0002] With the rapid development of the automobile industry and the continuous improvement of people's income, more and more people have their own cars. At the same time, more and more vehicles are driving in groups such as group self-driving tours and business tours. We collectively refer to this type of driving as formation driving. Formation driving can effectively integrate resources and maximize the use of vehicles in formation. With the rapid development of computer technology and wireless communication technology, it has become possible for a group system composed of multiple intelligent vehicles to coordinate and cooperate to complete the work that was originally impossible or difficult for a single intelligent...

AI Technical Summary

Problems solved by technology

The advantage of the leader-following method is that the formation movement is completely determined by the trajectory of the leader, and the control is simple and easy to implement. Even if the leader is disturbed, it will not affect the entire formation. The formation control problem can be simplified into an independent tracking problem. Each smart car It only needs to obtain the status information of its leader robot, which greatly simplifies the cooperation problem between formations; the disadvantage is that the control of the leader and the follower is relatively independent, and it is difficult for the leader to get the tracking error feedback of the follower, which will lose the global optimal position. Superiority

[0011] In addition to the above four formation control methods, vehicle formation also has MPC model predictive control, formation control based on graph theory, and some methods of neural network formation control. The control of these three methods is more complicated and difficult to implement.

[0012] At present, most of the researches on vehicle formations in China focus on the theoretical research of control models and control strategies, and have not proposed a feasible method of vehicle formation control driving that can be applied in practice.

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