Longitudinal vehicle queue coordinative controlling system based on wheel speed feed-forward compensation
A technology of coordinated control system and feed-forward compensation, applied in control devices, vehicle components, input parameters of external conditions, etc., can solve problems such as difficulty in achieving vehicle platoon control objectives, instability, etc., to improve robustness and reliability. Effect
Active Publication Date: 2017-11-07
KUNMING UNIV OF SCI & TECH
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AI Technical Summary
Problems solved by technology
For road vehicle platoons, vehicles are prone to instability due to large wheel slip when they are braked suddenly on low-adhesion roads or driven with high torque. In this case, the control goal of the entire vehicle platoon will be difficult to achieve
Method used
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Embodiment 1
[0028] Embodiment 1: as Figure 1-6 As shown, a longitudinal vehicle platoon coordination control system based on wheel speed feed-forward compensation includes a longitudinal vehicle platoon composed of n vehicles, and individual vehicles in the platoon detect the distance and Relative speed, to track the movement of the nearest vehicle in front of it; the vehicle control system of individual vehicles in the queue is a three-layer architecture: the top layer is the queue controller, whose function is to ensure the stability of the entire vehicle queue, According to the expected distance from the nearest vehicle in front of it, the expected relative speed and the feedforward wheel rotation speed information ω wi , calculate and output the initial target acceleration The middle layer is a coordination decision-making module, which is based on the actual road surface adhesion conditions (ie, road surface adhesion coefficient) and the preliminary target acceleration output by th...
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The invention relates to a longitudinal vehicle queue coordinative controlling system based on wheel speed feed-forward compensation, and belongs to the technical field of intelligent automobiles and intelligent transportation. According to the longitudinal vehicle queue coordinative controlling system based on wheel speed feed-forward compensation, aiming at a longitudinal vehicle queue and a distributing-type controlling mode of the longitudinal vehicle queue, a vehicle-mounted controlling system of a three-layer system structure is provided for queue vehicles, specifically, a top layer is a queue controller, and a fixed interval schedule controlling strategy based on wheel speed feed-forward compensation is adopted; a middle layer is a coordinative decision-making module, and two aspects of a controlling target of the queue and kinetics stability of the vehicles are coordinated; a bottom layer is a vehicle kinetics controller, and through active adjusting for driving torque and braking torque of wheels, the overall controlling target of the queue is achieved on the premise of ensuring the stability of longitudinal kinetics of the vehicles. Robustness of the longitudinal vehicle queue coordinative controlling system is good, affection to vehicle kinetics is small, interval errors of the queue vehicles can be reduced significantly, and reliability and safety of the queue are enhanced greatly.
Description
technical field [0001] The invention relates to a longitudinal vehicle platoon coordination control system based on wheel speed feed-forward compensation, belonging to the technical field of intelligent vehicles and intelligent transportation. Background technique [0002] Vehicle platooning is a way of intelligent vehicle control under the intelligent transportation system. Vehicle platooning can keep a small distance between vehicles while ensuring driving safety. On the one hand, it can improve the utilization of road space and ease traffic Congestion pressure; on the other hand, due to the small distance between adjacent vehicles, the air resistance suffered by the vehicles will be significantly reduced, which can improve fuel economy, especially for heavy-duty truck platoons. The effect of improving safety is more obvious; in addition, the orderly driving of vehicles in a queue is also conducive to improving the safety of road traffic. [0003] At present, the research...
Claims
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Patent Timeline
Login to View More IPC IPC(8): B60W30/165
CPCB60W30/165B60W50/0098B60W2050/0043B60W2554/80B60W2556/65B60W2554/801
Inventor 杨秀建陈亚勇张昆高晋聂枝根
Owner KUNMING UNIV OF SCI & TECH