Self-adaptive three-step method-based truck formation driving following vehicle control method

Abstract

The invention discloses a self-adaptive three-step method-based truck formation driving following vehicle control method. A vehicle longitudinal dynamics equation is established according to a stresssituation of a vehicle in a running process; by using the vehicle longitudinal dynamics equation, taking expected vehicle distance deviation and speed deviation as state variables, and taking an expected output torque as a control variable, establishing a nonlinear state space equation; then establishing queue integral Lyapunov, and then based on this, establishing a form of a controller referenceinput signal; and based on a three-step method control theory, designing a controller, determining a parameter self-adaptation law of the three-step method controller, obtaining a control rate of thecontroller, determining an output control variable by the controller according to state information at each moment and in combination with an expression form of a control law, and applying the outputcontrol variable directly serving as a driving/braking torque signal to the controlled vehicle. A Lyapunov function method is used in a design process of a controller reference input, and the three-step method controller is used for adjusting the parameters of the controller in real time under the adjustment of the self-adaptive law.

Description

Technical field [0001] The invention relates to a method for improving the following performance of vehicles in a heavy-duty truck queue on an expressway, in particular to a method for controlling the following vehicles in a truck formation based on an adaptive three-step method. Background technique [0002] When the number of vehicles in the highway truck fleet gradually increases, the barrier effect of the pilot vehicle on the front airflow can be further fully utilized to further improve the fuel economy of road transportation and the potential capacity of the highway. With the development of communication technology and automotive electronic technology Continuous progress and realization of multi-vehicle formation driving control is an inevitable trend in the field of truck formation research. However, compared to the control problem of controlling the two-car platoon, controlling the formation of multiple cars for coordinated travel requires the controller to take into acco...

AI Technical Summary

Problems solved by technology

However, compared to the control problem of controlling a two-vehicle platoon, controlling a multi-vehicle formation for coordinated travel requires the controller to simultaneously take into account the dynamic changes of the front and rear vehicles, balance the safety distance with the front and rear vehicles, and at the same time ensure proper tracking performance and control Algorithms should meet the platoon stability requirements, so there are more challenges in designing multi-vehicle platoon controllers

Images