Vehicle queue stability control method considering communication delay

A technology of stability control and vehicle, applied in the direction of control device, vehicle components, input parameters of external conditions, etc., can solve the problem of destroying the stability of vehicle platoons and the influence mechanism of vehicle platoon-following control system stability, and the amount of calculation is small. And other issues

Inactive Publication Date: 2019-04-09
HUNAN UNIV
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Problems solved by technology

First, the influence mechanism of the communication topology on the stability of the vehicle platoon-following control system is still unclear, and the conditions for a given controller gain to stabilize the platoon-following system still need to be further studied; Strong, the controller gain design method that decouples the solution process from the specific structure of the communication topology; fina...

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  • Vehicle queue stability control method considering communication delay
  • Vehicle queue stability control method considering communication delay
  • Vehicle queue stability control method considering communication delay

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Embodiment Construction

[0067] In the drawings, the same or similar reference numerals are used to denote the same or similar elements or elements having the same or similar functions. Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0068] Such as figure 1 As shown, the vehicle platoon stability control method considering the communication delay provided by this embodiment includes the following steps:

[0069] Step 1, the vehicle platoon includes N+1 member vehicles, N is a natural number greater than 1, and a mathematical model of vehicle platoon following is established: the mathematical model includes node power unit 1, geometric topology 2, communication topology 3 and distribution Formula controller 4, in the vehicle queue, one of the member vehicles corresponds to a node. Wherein, the node power unit 1 according to the input expected acceleration a des , get the desired throttle opening α des or desired brake pressure ...

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Abstract

The invention discloses a vehicle queue stability control method considering communication delay. The method comprises the steps that 1, a vehicle queue following mathematical model is established; 2,a nonlinear lower layer control gain is constructed by a feedback linearization strategy, and a node power unit is described as a node linear model; 3, a high-dimensional closed-loop state equation of a vehicle queue following control system under dynamic parameter uncertainty is established; 4, sufficient conditions are used for giving sufficient conditions that a vehicle queue with communication delay has a stabilization controller under the symmetric communication topology; and 5, the stabilization controller is constructed to obtain a controller gain so as to control static feedback control of a distributed controller, and the stability of the vehicle queue following control system is ensured. The method can ensure the stability of the vehicle queue following control system, reduces the vehicle queue following interval, increases the traffic flow, and reduces the energy consumption.

Description

technical field [0001] The invention relates to the technical field of intelligent driving, in particular to a vehicle queue stability control method considering communication time delay. 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 vehicle platoon expands the environmental awareness of member vehicles by introducing wireless communication, and adopts a car-following strategy with a more compact geometric configuration on the basis of ensuring safety, so as to improve traffic efficiency and reduce energy consumption. It is an important development of intelligent tran...

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Application Information

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IPC IPC(8): B60W30/02B60W50/00
CPCB60W30/02B60W50/00B60W2050/0075B60W2556/65
Inventor 秦晓辉庞涛王晓伟胡满江徐彪谢国涛孙宁钟志华
Owner HUNAN UNIV
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