A finite-time convergent vehicle formation control method based on disturbance observer
A disturbance observer, limited-time technology, applied in vehicle position/route/altitude control, non-electric variable control, two-dimensional position/channel control and other directions, which can solve the influence of cooperative control, does not consider the vehicle mismatch speed disturbance, etc. problems to ensure the tracking performance and security
Active Publication Date: 2021-09-28
HUNAN UNIV
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[0004] Existing research does not consider the impact of vehicle mismatch speed disturbance and matching acceleration disturbance, which exist objectively under the conditions of uneven road surface, strong wind, parameter changes and external disturbances, and have an important impact on cooperative control
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[0023] The present invention will be described in further detail below in conjunction with the embodiments given in the accompanying drawings.
[0024] refer to figure 1 As shown, the vehicle formation considered in the present invention is composed of N+1 vehicles, wherein the 0th vehicle is the leading vehicle traveling at a constant speed, and the remaining 1-N vehicles are following vehicles. Each following vehicle is equipped with positioning, communication and control equipment. The positioning device adopts GPS and IMU fusion technology, which can obtain the current vehicle position, speed and acceleration information, and send it to the CAN bus. The communication device can obtain the own vehicle information from the CAN bus, send it to other vehicles, and receive other vehicle information. The upper controller obtains the vehicle information and other vehicle information from the CAN bus, calculates the expected acceleration and sends it to the bottom controller thr...
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The invention discloses a finite-time convergent vehicle formation control method based on a disturbance observer, comprising the following steps: step 1, numbering the vehicles in the formation from 0 to N from front to back, wherein the 0th vehicle is a leading vehicle traveling at a constant speed, Step 2, each vehicle uses the disturbance observer to obtain the estimated value of the unmatched speed disturbance and the matched acceleration disturbance; Step 3, during the driving process; Step 4; Step 5; Step 6, judge whether the expected acceleration is higher or lower than the knot The actual acceleration when the valve opening is zero; step 7, the drive system or brake system acts to obtain the drive torque T iw or braking torque T ib and applied to the vehicle body; step 8, each following vehicle repeats the above steps 2 to 7 continuously to realize vehicle formation driving. With the finite-time convergent vehicle formation control method based on the disturbance observer of the present invention, the vehicle formation development error can be converged within a finite time, thereby ensuring vehicle formation tracking performance and safety.
Description
technical field [0001] The invention relates to the field of intelligent traffic system control, in particular to a finite-time convergent vehicle formation control method based on a disturbance observer. Background technique [0002] China is increasingly becoming the world's largest automobile market, and the ensuing urban traffic congestion poses a huge challenge to the safety and efficiency of traffic operation and the fuel economy of automobiles. Vehicle formation technology, that is, cooperative adaptive cruise control technology, uses vehicle-to-vehicle communication to control vehicle formation cooperatively, improves road utilization and vehicle economic benefits, and provides a new method for solving traffic problems, so it has been widely studied. [0003] At present, there are many patents on vehicle formation control. The patent with the application number 201910452625.4 provides a truck formation method based on vehicle-road cooperative control; the patent wit...
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IPC IPC(8): G05D1/02
CPCG05D1/0293
Inventor 胡满江王选边有钢孙宁徐彪秦晓辉秦兆博谢国涛王晓伟秦洪懋丁荣军
Owner HUNAN UNIV