Cooperative Adaptive Anti-disturbance Longitudinal Control Method for Nonlinear Vehicle Platooning

Abstract

The invention discloses a non-linear vehicle platoon cooperative self-adaptive anti-disturbance longitudinal control method. An upper-layer spacing maintenance controller is designed, and the expected speed of the vehicle is calculated according to the pose and speed of the vehicle in front and the pilot vehicle, and the cooperative cruise control task Converted to the problem of speed tracking; based on the principle of similarity, the vehicle kinematics model is transformed from the Cartesian coordinate system to the Frenet coordinate system, considering the curvature of the actual road, and can realize the cruise control of the curve; considering the quadratic term of wind resistance, vehicle Considering the effects of unknown disturbances such as load changes and acceleration fluctuations, an adaptive law is designed to estimate the upper bound of the disturbance online, and the lower layer speed tracking controller is designed based on the stability principle, which can ensure the stability of the system under 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...

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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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