Method and device for obtaining vehicle distributed controller gain for homogeneous vehicle platoon

Abstract

The invention belongs to the field of intelligent transportation and provides a method and device for obtaining the gain of a vehicle distributed controller of a homogeneous vehicle queue, which can obtain the gain of a distributed controller with a relatively small amount of calculation. The method includes: determining the car-following error convergence coefficient δ of the homogeneous vehicle platoon; solving a symmetric positive definite matrix P that makes the inequality equations set; calculating the vehicle distributed controller gain K of the homogeneous vehicle platoon according to the formula. On the one hand, the technical solution of the present invention enables the design of the vehicle distributed controller gain K to be well decoupled from the communication topology specific structure of the homogeneous vehicle queue, and the design method has better versatility; on the other hand, the solution and Inequality equations require less calculation and are very suitable for engineering practice.

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

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