Traffic flow distributed cooperative formation control method based on adaptive event triggering

An event-triggered and control-method technology, applied in traffic control systems, traffic control systems, electrical components, etc. of road vehicles, which can solve problems such as high communication load and waste of resources.

Active Publication Date: 2020-02-11
TONGJI ARTIFICIAL INTELLIGENCE RES INST SUZHOU CO LTD
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  • Abstract
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Problems solved by technology

However, the coordinated formation control of vehicle flow still has the main disadvantage of high communication load.
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  • Traffic flow distributed cooperative formation control method based on adaptive event triggering
  • Traffic flow distributed cooperative formation control method based on adaptive event triggering
  • Traffic flow distributed cooperative formation control method based on adaptive event triggering

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Embodiment Construction

[0053] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0054] Such as figure 2 As shown, this embodiment provides a vehicle flow distributed cooperative formation control method based on adaptive event triggering, including the following steps:

[0055] 1) Establish a linear dynamic model of the unmanned vehicle, based on the global coordinate position information of the unmanned vehicle itself and its neighbor unmanned vehicles, and transmit it to the on-board microcontroller to perform obstacle avoidance control with neighbor vehicles.

[0056] When establishing the linear dynamic model of the unmanned vehicle, the inertial system XOY...

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Abstract

The invention relates to a traffic flow distributed cooperative formation control method based on adaptive event triggering. The method comprises the steps: performing an obstacle avoidance control step; to be specific, building an unmanned vehicle linear kinetic model, and carrying out obstacle avoidance controlling with a neighbor vehicle based on global coordinate position information of an unmanned vehicle and a neighbor unmanned vehicle; performing a leader vehicle observation step; to be specific, acquiring state information of the leader vehicle by using a distributed observer based onadaptive event triggering; and performing a path following step; to be specific, adjusting the state information of the unmanned vehicle according to the state information of the leader vehicle by using a vehicle cooperative controller triggered based on an adaptive event. Compared with the prior art, the traffic flow distributed cooperative formation control method has the following advantages: with introduction of an event triggering mechanism, the communication load between vehicles is reduced and cooperative formation control over traffic flow is realized.

Description

technical field [0001] The invention belongs to the technical field of intelligent traffic control systems, and relates to a multi-vehicle communication control method, in particular to a vehicle flow distributed cooperative formation control method based on adaptive event triggering. Background technique [0002] Coordinated formation control of vehicle flow in intelligent traffic control technology is its core. The safe distance between vehicles is the basic problem of coordinated formation control of vehicle flow, which can constitute vehicle maneuvers such as changing lanes, avoiding obstacles, and following vehicles. Through the cooperative formation control method of vehicle flow, the road traffic capacity can be effectively increased, traffic congestion can be alleviated, and fuel pollution can be reduced. [0003] Vehicle flow cooperative formation control uses the method of distributed observation control, which can better avoid the use of global information, reali...

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Application Information

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IPC IPC(8): G08G1/00H04L29/08
CPCG08G1/202G08G1/22H04L67/12
Inventor 张皓王祝萍黄超张长柱刘娟
Owner TONGJI ARTIFICIAL INTELLIGENCE RES INST SUZHOU CO LTD
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