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Nonlinear vehicle queue cooperative self-adaptive anti-interference longitudinal control method

A longitudinal control and self-adaptive technology, applied in the traffic control system of road vehicles, traffic control system, arrangement, etc., can solve problems such as difficult accurate modeling, system instability, etc., and achieve the effect of ensuring stability

Active Publication Date: 2020-02-21
CENT SOUTH UNIV
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Problems solved by technology

[0004] (2) At present, many important achievements on the cooperative adaptive anti-disturbance anti-disturbance longitudinal control of the vehicle platoon are based on the platoon driving along a straight line, how to realize the adaptive anti-disturbance anti-disturbance of the platoon in the actual curve driving scene needs further research ;
[0005] (3) In practical application scenarios, the quadratic term of wind resistance and road slope change with time and working conditions, so it is difficult to accurately model, and the vehicle queue will also be affected by unknown disturbances such as vehicle load changes and acceleration fluctuations. Interference factors may cause instability of the entire system

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  • Nonlinear vehicle queue cooperative self-adaptive anti-interference longitudinal control method

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Embodiment Construction

[0036] In this example, three 10m-long intelligent driving buses form a vehicle queue. Each vehicle is equipped with Xingwang Yuda XW-GI7660 combined inertial navigation and Xingyun interconnected intelligent vehicle terminal V-Box. The real-time position, heading and speed of the vehicle are all controlled by The combined inertial feedback, as in figure 1 The entire length shown is about 3.5 kilometers, including four curves, two-way four-lane vehicle platoon cooperative adaptive anti-disturbance longitudinal control experiment.

[0037] The control structure of the present invention is as Figure 5 Shown, the realization process of the present invention comprises the following steps:

[0038] 1) Construct the leader-front vehicle following type vehicle formation, in the said vehicle formation along the traveling direction of the vehicle, the leading vehicle is the leader vehicle, and other vehicles are follower vehicles;

[0039] 2) Establish the kinematics model of the ve...

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Abstract

The invention discloses a nonlinear vehicle queue cooperative self-adaptive anti-interference longitudinal control method. The method comprises a step of designing an upper-layer distance keeping controller, calculating an expected speed of a vehicle according to poses and speeds of a front vehicle and a pilot vehicle, and converting a cooperative cruise control task into a speed tracking problem,a step of converting a vehicle kinematics model into a Fraenet coordinate system from a Cartesian coordinate system based on a similarity principle, considering the curvature of an actual road, and realizing the cruise control over a curve, and a step of considering the effects of unknown disturbances such as a wind resistance quadratic term, a vehicle load change and an acceleration fluctuation,designing an adaptive law to estimate upper bounds of the disturbances online, and designing a lower-layer speed tracking controller based on the stability principle such that the stability of the system can be ensured under the effects of the unknown disturbances.

Description

technical field [0001] The invention relates to the field of multi-vehicle cooperative control, in particular to a nonlinear vehicle platoon cooperative adaptive anti-disturbance longitudinal control method considering unknown disturbances. Background technique [0002] Vehicle platoon cooperative adaptive anti-disturbance longitudinal control is to realize information sharing between vehicles in the platoon through inter-vehicle communication or vehicle-road communication, and apply a cooperative control algorithm to coordinate all vehicles in the queuing to drive at the same expected speed and maintain the desired distance. It is an intelligent transportation system. One of the important contents of the research. The realization of vehicle platoon cooperative adaptive anti-disturbance longitudinal control can increase the traffic flow of existing roads and reduce energy consumption, which has important application value for promoting intelligent transportation. At present...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G08G1/00
CPCG08G1/22
Inventor 余伶俐况宗旭魏亚东周开军
Owner CENT SOUTH UNIV
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