A vehicle platoon control method and system considering partial communication failure

Abstract

The invention discloses a vehicle platoon control method considering failure of the communication part, which is characterized in that it includes the following steps: Step 1, numbering the networked vehicles in the vehicle platoon from front to back as vehicle 0, vehicle 1, vehicle 2, ... , vehicle N; step 2, at each discrete sampling time t; step 3, at each discrete sampling time t, each vehicle i solves an open-loop optimization problem using the hypothetical state trajectories and hypothetical input trajectories of itself and all neighboring vehicles P i (t); step 4, at each discrete sampling time t, each vehicle i uses the first element of the obtained optimal control input sequence for its own vehicle control at time t; step 5, repeat the above steps 2-4 To realize vehicle platoon driving. The vehicle platoon control method considering the failure of the communication part of the present invention, through the setting of steps 1 to 5, can effectively realize the platoon control of vehicles in consideration of the failure of the communication part.

Description

technical field [0001] The invention relates to the fields of intelligent transportation systems and intelligent networked vehicles, in particular to a vehicle queue control method and system considering failure of communication part. Background technique [0002] The vehicle queuing system, also known as cooperative adaptive cruise technology, realizes continuous follow-up control of multiple vehicles by introducing information sharing among networked vehicles, and improves traffic efficiency and fuel economy. [0003] The vehicle platoon system relies on the communication network, but the wireless communication link will cause communication packet loss. At the same time, there are many interference factors in the vehicle queuing, which will easily cause the failure of the communication link between some vehicles, which will cause the communication topology switch and reduce the entire system. control performance. Therefore, it is of great significance to design vehicle pl...

AI Technical Summary

Problems solved by technology

"A distributed model predictive controls scheme for networks with communication failure" by Schaich et al. requires all following units to be able to communicate continuously with the pilot unit in the application, which is not easy to meet in the application

[0006] In summary, there is currently no better distributed control method that can optimize specific performance indicators while ensuring the stability of the vehicle platoon system under partial communication failures, and can also explicitly add constraints

Images