Coordinated Control Method for Vehicles and Multi-Vehicle Networks

Abstract

The present invention proposes a coordinated control method for a vehicle and a multi-vehicle network, wherein the multi-vehicle network includes a plurality of individual vehicles, and the coordinated control method performed for each individual vehicle includes the following steps: acquiring the current position of the individual vehicle and the location of the individual vehicle The location of the neighbor vehicle at the current moment; determine the sign parameters of the individual vehicle and the sign parameters of the neighbor vehicles of the individual vehicle; according to the sign parameters of the individual vehicle, the sign parameters of the neighbor vehicles of the individual vehicle and multiple The weighted adjacency matrix of the vehicle network determines the sampling step size of the individual vehicle; and according to the current position of the individual vehicle, the current position of the neighbor vehicles of the individual vehicle, the symbol parameters of the individual vehicle, the sign parameters of the neighbor vehicles of the individual vehicle The parameters and sampling step size control individual vehicles. The invention can ensure that all the vehicles are divided into two groups to arrive at any designated two symmetrical two-way desired positions, and the control precision is high.

Description

technical field [0001] The invention relates to the technical field of control, in particular to a coordinated control method for a vehicle and a multi-vehicle network. Background technique [0002] At present, coordinated control methods for multi-vehicle networks are more and more widely used in practical problems. This is mainly due to the fact that more and more practical tasks are more complicated, which are often difficult for a single vehicle to complete, but can be completed through the cooperation between multiple vehicles. In addition, through the cooperation between multiple vehicles, the efficiency of the vehicle system in the operation process can be improved, and then when the working environment changes or the vehicle system fails locally, the multi-vehicle system can still complete the scheduled tasks through its own cooperative relationship . However, the disadvantage of the existing technology is that it can only realize that all the vehicles arrive at th...

AI Technical Summary

Problems solved by technology

However, the disadvantage of the existing technology is that it can only realize that all vehicles arrive at the same designated location, and cannot realize the coordinated control task of different vehicles arriving at different designated locations according to actual needs.

In particular, when it comes to the problem of cross-scale coordinated control of multiple vehicles at different specified scales, it is often difficult to effectively use

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