Vehicle distributed controller gain solving method and device of homogeneous vehicle queue

Abstract

The invention belongs to the intelligent transportation field, provides a vehicle distributed controller gain solving method and device of a homogeneous vehicle queue and solves a distributed controller gain through relatively small calculation amount. The method comprises steps that a vehicle following error convergence coefficient delta of the homogeneous vehicle queue is determined; a symmetric positive definite matrix P for making inequality equations described as the specifications set up is solved; according to a formula described as the specifications, the vehicle distributed controller gain of the homogeneous vehicle queue is calculated. The method is advantaged in that on one hand, excellent decoupling of design of the vehicle distributed controller gain K and a specific communication topology structure of the homogeneous vehicle queue is realized, and excellent universality is realized, on the other hand, the calculation amount of the formula described as the specifications and the inequality equations described as the specifications is small, and the method is quite suitable for engineering practices.

Description

technical field [0001] The invention belongs to the field of intelligent transportation, in particular to a method and device for obtaining the gain of a vehicle distributed controller of a homogeneous vehicle queue. Background technique [0002] In recent years, with the continuous increase of car ownership, problems such as traffic congestion, fuel shortage, and air pollution have become increasingly serious. International studies have shown that if vehicles are lined up during highway driving, the overall aerodynamic resistance can be changed by shortening the car-following distance, which is expected to improve traffic flow and reduce fuel consumption. [0003] The car-following behavior of ordinary drivers is usually conservative, which is manifested in the fact that the car-following distance is large, road resources cannot be fully utilized, and the overall aerodynamics of the vehicle platoon is not changed much. When vehicles follow continuously to form a vehicle pl...

AI Technical Summary

Problems solved by technology

Although the existing vehicle-road coordination system is expected to solve the above problems, it is often coupled with the communication topology of the homogeneous vehicle queue when calculating the gain of the distributed controller of the vehicle, and the amount of calculation involved is large, which is not applicable. in engineering practice

Images