Multi-train rank longitudinal control method based on vehicle-vehicle communication

Abstract

The invention discloses a multi-train rank longitudinal control method based on vehicle-vehicle communication. The method comprises the following steps that: 1) each vehicle senses the motion state information of the vehicle per se and sends the motion state information to other vehicles in a broadcasting mode, and after each vehicle receives the state information of other vehicles, it is determined whether the vehicle meets the formation condition or not; 2) a pilot vehicle sends a team formation request, and vehicles meeting the formation condition start to form a team; 3) vehicle-vehicle communication devices of each vehicle obtain respective sensor information, and package the sensor information into a data stream to be broadcast to other vehicles; 4) an upper layer controller of eachfollowing vehicle calculates the expected acceleration and the expected speed of the vehicle according to the pilot vehicle state information, the front vehicle state information and the sensor information of the vehicle per se obtained by the vehicle-vehicle communication devices; 5) a lower layer controller of each following vehicle receives the expected speed or acceleration from the upper layer controller to complete the control and tracking of the longitudinal speed of the rank. The method can obviously improve the adaptability of the motorcade under complex working conditions.

Description

technical field [0001] The invention relates to the intelligent driving control technology of automobiles, in particular to a longitudinal control method for multi-vehicle platooning based on vehicle-vehicle communication. Background technique [0002] At present, intelligent driving technology has become a research hotspot in the field of vehicle engineering in the world and a new driving force for the growth of the automobile industry. Many developed countries have incorporated it into their respective intelligent transportation systems. The platoon of intelligent driving vehicles based on the Internet of Vehicles can complete the complex working conditions that a single intelligent vehicle cannot adapt to through communication and cooperation between vehicles. At the same time, it can alleviate road congestion, improve the safety of self-driving vehicles, and enhance road traffic capacity. All have very significant effects. [0003] At present, the direct control idea of...

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Problems solved by technology

[0003] At present, the direct control idea of ​​vehicle platooning is to directly determine the accelerator pedal and brake pedal information required to achieve the current driving target according to the expected distance or speed between two vehicles. However, since the vehicle is a complex nonlinear system, the Direct control will make the control chain too long, and changes in vehicle parameters and external environment information will greatly affect the robustness of the system, which is not conducive to maintaining the stability of the system. In extreme cases, it may lead to system failure

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