Vehicle queue stability control method considering vehicle dynamics parameter uncertainty

A technology of parameter uncertainty and vehicle dynamics, applied in the direction of total factory control, total factory control, electrical program control, etc., can solve the problems that the robust control theory needs to be further improved

Inactive Publication Date: 2019-06-25
HUNAN UNIV
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Problems solved by technology

The vehicle platoon system has its own special dynamic characteristics, and many conclusions in the multi-agent field are not completely suitable for the vehicle p

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  • Vehicle queue stability control method considering vehicle dynamics parameter uncertainty
  • Vehicle queue stability control method considering vehicle dynamics parameter uncertainty
  • Vehicle queue stability control method considering vehicle dynamics parameter uncertainty

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Embodiment Construction

[0059] In the drawings, the same or similar reference signs are used to indicate the same or similar elements or elements with the same or similar functions. The embodiments of the present invention will be described in detail below in conjunction with the drawings.

[0060] Such as figure 1 As shown, the vehicle platoon stability control method considering the uncertainty of vehicle dynamics parameters provided by this embodiment includes the following steps:

[0061] Step 1. The vehicle queue includes N+1 member vehicles, and N is a natural number greater than 1, and a mathematical model of the vehicle queue following is established: the mathematical model includes node power unit 1, geometric topology structure 2, communication topology structure 3, and distribution Type controller 4, a member car corresponds to a node, wherein the node power unit 1 according to the input expected acceleration a des , To obtain the desired throttle opening α des Or desired brake pressure P des ...

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Abstract

The invention discloses a vehicle queue stability control method considering vehicle dynamics parameter uncertainty. The method comprises the steps that 1 a mathematical model of vehicle queue following is established; 2 nonlinear lower-layer control gain is constructed through a feedback linearization strategy to describe a node dynamic unit as a node linear model; 3 the high-dimensional closed-loop state equation of a vehicle queue following control system under dynamics parameter uncertainty is established; 4 the stability of the high-dimensional closed-loop state equation is converted intothe stability of several low-dimensional sub-modal systems, and sufficient conditions for the existence of a stabilization controller for vehicle queues with dynamics parameter uncertainty under symmetric communication topology are given; and 5 the sufficient conditions are used to propose a low-dimensional Riccati inequality, and the solution of the Riccati inequality is used to construct a stabilization controller to acquire controller gain. The method provided by the invention can ensure the stability of the vehicle queue following control system, reduces the following interval of vehiclequeues, increases traffic flow, and reduces energy consumption.

Description

Technical field [0001] The invention relates to the technical field of intelligent driving, in particular to a vehicle platoon stability control method considering the uncertainty of vehicle dynamics parameters. Background technique [0002] In recent years, with the gradual increase in car ownership, problems such as traffic congestion, fuel shortage and air pollution have become more and more serious. International studies have shown that on highways, if vehicles are lined up to drive, the overall aerodynamic resistance can be changed by shortening the car following distance, which is expected to increase traffic flow and reduce fuel consumption. [0003] The car-following behavior of general drivers is usually conservative, the car-following distance is large, road resources cannot be fully utilized, and the overall aerodynamics of the vehicle queue is not changed much. In addition, due to the delay of the driver's response, when multiple vehicles follow continuously to form a ...

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Application Information

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IPC IPC(8): G05B19/418
CPCY02P90/02
Inventor 秦晓辉史维清王晓伟徐彪谢国涛孙宁胡满江钟志华
Owner HUNAN UNIV
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