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

Abstract

The invention discloses a control method for following vehicles in formation driving of trucks based on an adaptive three-step method. According to the force situation of the vehicles during driving, the longitudinal dynamic equation of the vehicle is established; And the speed deviation as the state quantity, and the expected output torque as the control quantity, establish the nonlinear state space equation; then establish the queue as a whole Lyapunov, and establish the form of the controller reference input signal accordingly; based on the three-step control theory, design The controller determines the parameter adaptive law of the three-step controller to obtain the control rate of the controller. The controller determines the output control amount according to the state information at each moment and combined with the expression of the control law, which is directly used as the driving / braking torque signal Act on the charged vehicle. The Lyapunov function method is used in the design process of the controller reference input, and the three-step controller adjusts the controller parameters in real time under the adjustment of the adaptive law.

Description

technical field [0001] The invention relates to a method for improving the following performance of vehicles in a platoon of heavy trucks on an expressway, in particular to a control method for following vehicles in a truck formation based on an adaptive three-step method. Background technique [0002] When the number of vehicles in the expressway truck formation gradually increases, the pilot vehicle can further make full use of the barrier function of the front airflow to further improve the fuel economy of road transportation and the potential capacity of the expressway. With the development of communication technology and automotive electronic technology It is an inevitable trend in the field of truck platoon research to make continuous progress and realize multi-vehicle platoon driving control. However, compared to the control problem of controlling a two-vehicle platoon, controlling a multi-vehicle formation for coordinated travel requires the controller to simultaneou...

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

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