Autonomous vehicle queuing distance control method

Abstract

The invention provides an autonomous vehicle queuing distance control method. The method comprises the following steps of establishing a bicycle constant speed control system; obtaining a multi-vehicle spacing control system through a multi-agent theory according to the single-vehicle constant-speed control system; designing the parameters of an internal model compensator, and analyzing the robustness of the multi-vehicle-to-vehicle distance control system; according to the multi-vehicle-to-vehicle distance control system and the analyzed robustness, simulating a vehicle; and according to a simulation result, applying the internal model compensator of the control system to the vehicle. According to the autonomous vehicle queuing distance control method provided by the invention, one vehicle follows the other vehicle, a certain distance is kept between the vehicle and the vehicle in front of the vehicle, and the distance is almost constant; the vehicle collision is avoided by setting the parameters and the anti-collision of the internal model compensator, and the queuing problem of multiple vehicles is solved. The method is not limited by the vehicle types, the wind resistance is considered, and braking, interference and uncertainty of vehicles are not involved.

Description

technical field [0001] The invention relates to a method for controlling the queuing distance of autonomous vehicles, in particular to a method for controlling the queuing distance of autonomous vehicles to solve the problem of queuing up of autonomous vehicles. Background technique [0002] The queuing of connected and automated vehicles (CAVs) is the hottest topic since the 1980s. This is an effective method to effectively improve the efficiency of road traffic operation, such as increasing the traffic capacity. [0003] Due to the influence of the existing engine, transmission system, braking system, and aerodynamic drag, the longitudinal dynamic model of the node vehicle is nonlinear in nature. A large number of researches can analyze and design queuing internal model compensators directly for nonlinear models. Asymptotic stability and chordal stability can be guaranteed by tuning the internal model compensator parameters or using smart methods. However, for nonlinear...

AI Technical Summary

Problems solved by technology

However, for nonlinear models, qualitative / quantitative analysis is more difficult to achieve, while linear models are easier to solve the problem

[0004] Most of the existing technologies only focus on the problem of vehicle queuing itself, while ignoring the problem of collision during the transient adjustment process of queuing control

Although a small number of methods have considered this problem, they not only incorporate braking control into the internal model compensator, but also have the phenomenon of reversing

In practice, the phenomenon of reversing is not what we want, and it will bring great safety hazards and uncomfortable driving experience

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