Vehicle formation control method based on chain structure

Abstract

The invention discloses a vehicle formation control method based on the chain structure. A vehicle formation has K vehicles, except the first vehicle and the last vehicle of the vehicle formation, other vehicles satisfies conditions as follows, an ith vehicle forms a small formation with an (i-1)th vehicle, in the small formation, the (i-1)th vehicle is the head vehicle of the ith vehicle, the ithvehicle is the following vehicle of the (i-1)th vehicle, and i is not smaller than 2 and is not greater than K-1; the ith vehicle further forms a small formation with an (i+1)th vehicle, in the smallformation, the ith vehicle is the head vehicle of the (i+1)th vehicle, and the (i+1)th vehicle is the following vehicle of the ith vehicle, the control mechanism of the head and following vehicles ofthe same small formation is that, the driving speed, the acceleration, the steering wheel angle, the yaw angle and the positioning information of the present vehicle are transmitted by the head vehicle to the following vehicle, and automatic driving control is performed by the following vehicle based on the information sensed by a self sensor and the received information of the head vehicle. Themethod is advantaged in that formation control can be more flexibly, safely and reliably realized.

Description

technical field [0001] The invention belongs to the technical field of vehicle driving control, and in particular relates to a vehicle formation control method based on a chain structure. Background technique [0002] Vehicle platooning technology has become a research hotspot in the field of autonomous driving due to its outstanding advantages in reducing fuel consumption, reducing driver labor costs, improving driving safety and improving road traffic capacity. [0003] The vehicle platoon driving technology can usually achieve a following distance of 0.3 to 1 second through a closer following distance. If the vehicle travels at 80Km / h, the following distance is about 6.6 to 22 meters. Since the following distance is very small, the first car produces a wind-breaking effect, and the wind resistance encountered by the following car becomes smaller, thereby achieving the effect of reducing fuel consumption. In addition, a smaller following distance also improves the capacit...

AI Technical Summary

Problems solved by technology

[0005] like figure 1 As shown, the existing vehicle formation control method makes decision-making and control of the entire fleet as a whole. The flexibility of this method of platooning driving method is poor, and this formation control method is not suitable for matching vehicle formation driving through the cloud platform; Longer, the actual road environment is very complex, which increases the difficulty of the control and management of the entire fleet; reliability is difficult to guarantee, generally the lead vehicle is responsible for the formation control calculation and decision-making of the entire fleet, and the calculation pressure is high. The operation of the fleet is invalid; due to the longer fleet and the increased distance, the reliability of wireless communication is reduced, which brings potential safety hazards

Images