Intelligent networked automobile formation control method and system for coping with communication abnormity

Abstract

The invention discloses an intelligent networked automobile formation control method and system for coping with communication abnormity. According to the invention, the driving data of each vehicle isacquired through the position acquisition unit, the speed acquisition unit and the acceleration acquisition unit, the data is interacted through the communication unit, and a front vehicle-pilot vehicle following vehicle formation topological structure is established. When communication is normal, according to the ideal vehicle distance calculation model, the multi-input and multi-constraint characteristics of the actual traffic environment are combined, meanwhile, the abnormal condition existing in the communication process is considered, and intelligent network connection vehicle formationcontrol is established based on model prediction control; and when the communication is abnormal, different formation switching modes are determined to be adopted according to the motorcade positionsof the abnormal vehicles. Interference of abnormal communication vehicles on driving of the whole motorcade can be solved, and normal passing of the vehicles is guaranteed.

Description

technical field [0001] The invention relates to the field of intelligent transportation, in particular to an intelligent networked vehicle formation control method and system for dealing with communication abnormalities. Background technique [0002] In recent years, the rapid development of related technologies such as the Internet, information communication, and environmental perception has made intelligent networked vehicles a new solution to traffic problems. Intelligent networked vehicles can share operating data in real time, such as speed, relative position, etc., which is conducive to real-time adjustment of vehicles, ensuring driving safety, and improving the organization of vehicle groups. In order to achieve the purpose of orderly road traffic flow, vehicle formation technology also Then came into being. Through vehicle platooning technology, vehicles can maintain ideal inter-vehicle spacing and speed, which is conducive to alleviating congestion on urban arteria...

AI Technical Summary

Problems solved by technology

Due to the complexity of the road environment, most of the current research on intelligent connected vehicles focuses on single-vehicle control, and there are few multi-vehicle collaborative applications

[0008] The vehicle-to-vehicle communication system is complex, and abnormal phenomena such as time delay and packet loss in the communication have a great impact on the vehicle formation

In addition, the simple vehicle-to-vehicle communication topology has a block response speed, low communication delay, but poor anti-interference ability

The complex vehicle-to-vehicle communication topology has better anti-interference ability, but it still needs to pay attention to its communication delay and data processing speed

At present, when choosing the topological structure of vehicle-to-vehicle communication, the consideration is single. Factors such as vehicle queue stability, driving safety, communication delay, and data processing speed should be weighed.

[0009] Traditional control methods such as proportional-integral-derivative control, sliding mode control, and robust control are mostly used in vehicle formation. However, the traditional control model needs to consider the mechanical structure and dynamics of the vehicle. The modeling is relatively complex, and the anti-interference ability and robustness It is poor, and it is mostly used to deal with single-constraint and univariate problems. It cannot handle multi-constraint and multivariate problems such as vehicle speed, acceleration, and communication status. It is not suitable for actual complex road environments.

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