Adaptive dynamic programming method for anti-jamming cacc system

A dynamic programming and self-adaptive technology, applied in control/regulation systems, motor vehicles, non-electric variable control, etc., can solve problems such as the inability to capture vehicle dynamic characteristics well

Active Publication Date: 2022-08-02
东北大学秦皇岛分校
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AI Technical Summary

Problems solved by technology

[0004] Due to the second-order fleet model used in the design of the controller, the second-order fleet model cannot capture the dynamic characteristics of the vehicle interior very well, and it needs to take into account various interference problems during the driving process of the fleet

Method used

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  • Adaptive dynamic programming method for anti-jamming cacc system
  • Adaptive dynamic programming method for anti-jamming cacc system
  • Adaptive dynamic programming method for anti-jamming cacc system

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Embodiment Construction

[0089]The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. The following examples are intended to illustrate the present invention, but not to limit the scope of the present invention.

[0090] The heterogeneous fleet model provided in this example comprehensively considers actuator faults and external disturbances, adopts the data-driven ADP algorithm, and designs a collaborative controller, which enables the fleet to achieve the convergence of each vehicle during the entire braking process. And achieve queue stability for the entire fleet.

[0091] An adaptive dynamic programming method for an anti-jamming CACC system, such as figure 1 shown, including the following steps:

[0092] Step 1. According to the dynamic performance of the vehicle, construct a fixed time interval strategy, adopt a one-way communication structure, and establish a vehicle longitudinal dynamics model...

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Abstract

The invention provides an adaptive dynamic planning method of an anti-interference CACC system, which relates to the technical field of heterogeneous fleet control. The invention solves the problem of fleet stability under the simultaneous existence of actuator delay, external disturbance and preceding vehicle disturbance by constructing a model and the proposed data-driven ADP fleet cooperative control method, and the method can make the fleet quickly reach a stable state. In the vehicle stability analysis, the stability of the vehicle is proved by analyzing the size of the cost function after the controller is updated. Through analysis, it is obtained that the cost function is bounded and less than the minimum value, which proves that the state of the vehicle and the control input have reached a stable state.

Description

technical field [0001] The invention relates to the technical field of heterogeneous fleet control, in particular to an adaptive dynamic planning method of an anti-interference CACC system. Background technique [0002] In recent years, the research on heterogeneous fleets is still limited, and the application of data-driven control methods in fleet cooperative adaptive cruise control (CACC) is rare. With the rapid development of technology in the field of artificial intelligence, Jiang et al. Y. Jiang and Z.-P. Jiang, "Computational adaptive optimal control for continuous-timelinear systems with completely unknown dynamics," Automatica, vol.48, no.10, pp. 2699–2704, 2012. and Y. Jiang and Z.-P. Jiang, “Robust adaptive dynamic programming and feedback stabilization of nonlinear systems,” IEEE Trans. Neural Netw. Learn. Syst., vol. 25, no. 5, pp. 882–893, May 2014. proposed an adaptive optimal control method for linear systems and further extended the method to nonlinear sys...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214G05D1/0221G05D1/0295G05D1/0276G05D2201/02
Inventor 高振宇安会爽郭戈
Owner 东北大学秦皇岛分校
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