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Anti-communication-delay intelligent electric vehicle formation self-adaptive robust control method

An intelligent electric vehicle, self-adaptive and robust technology, applied in the direction of self-adaptive control, general control system, control/regulation system, etc., can solve the problems of formation control stability and other problems, to overcome parameter uncertainty and external wireless communication Effects of delaying and improving overall performance

Inactive Publication Date: 2019-12-13
XIAMEN UNIV
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Problems solved by technology

However, the introduction of wireless communication will bring problems such as communication delays that cannot be ignored, and these factors will have a certain impact on the stability of formation control

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  • Anti-communication-delay intelligent electric vehicle formation self-adaptive robust control method

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Embodiment Construction

[0030] The following embodiments will further illustrate the present invention in conjunction with the drawings.

[0031] Such as figure 1 As shown, the present invention provides a smart electric vehicle formation adaptive control system, including a V2V wireless communication system module, a vehicle sensor module, A / D and D / A converter modules, an adaptive control law design module, and an adaptive H ∞ Control the constant gain design module, etc. Such as figure 2 As shown, the present invention first obtains the driving status information of the vehicle, the preceding vehicle and the pilot vehicle through the on-board sensor and the V2V wireless communication system, and then designs the intelligent electric vehicle formation adaptive H ∞ The controller realizes the intelligent electric vehicle formation control under the conditions of communication delay and parameter uncertainty.

[0032] The specific steps of the control method embodiment of the present invention are as fol...

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Abstract

The invention discloses an anti-communication-delay intelligent electric vehicle formation self-adaptive robust control method and belongs to the field of the intelligent safety and automatic drivingof vehicles. A wireless communication system and a vehicle-mounted sensor are used for collecting the driving state information of a vehicle and the information of other vehicles surrounding the vehicle; a feedback linearization technology is adopted to establish an intelligent electric vehicle formation longitudinal control model with parameter uncertainty characteristics; and therefore, the intelligent electric vehicle formation self-adaptive robust H-infinity control method capable of resisting communication delay is designed. With the method adopted, the problems of the parameter uncertainty of an intelligent electric vehicle formation dynamics system and the influence of external wireless communication delay can be solved, and the comprehensive performance of an intelligent electric vehicle formation control system is improved.

Description

Technical field [0001] The invention belongs to the field of automobile intelligent safety and automatic driving, and in particular relates to an adaptive robust control method for intelligent electric vehicle formations against communication delay. Background technique [0002] The ever-increasing demand for vehicles has brought a heavy burden to traffic, causing traffic jams and other problems. Smart electric vehicle platoon driving can improve road utilization by shortening the distance between vehicles, enhancing vehicle safety and reducing energy consumption. [0003] Intelligent electric vehicle formation control is to automatically adjust the longitudinal motion state of the vehicle according to the driving information of other vehicles in the queue, and finally achieve a consistent driving speed and desired longitudinal driving state. Literature 1 (Jinghua Guo, YugongLuo, Keqiang Li. Integrated adaptive dynamic surface car-following control for nonholonomic autonomous elec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王靖瑶郭景华郑华青
Owner XIAMEN UNIV
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