Vehicle formation control system and method in Internet of Vehicles environment

Abstract

The invention relates to a vehicle formation control system and method in an Internet of Vehicles environment, and belongs to the field of Internet of Vehicles. The method comprises an information system and a control system. The control system is in wired connection with the information system and the vehicle physical system, receives information of the information system and executes a control instruction, and comprises a speed controller and an angle controller. On the basis of establishing a pilot following model and a system error model, a Lyapunov stability theory is proposed to design a pilot following speed controller with a time-varying following distance, so that formation vehicles can keep stable following at different distances at different speeds. The method and system have the advantages that the structures of the vehicle information system and the control system are comprehensively considered, the pilot following control model is optimized, the formation driving control problems of formation forming, linear driving, curve driving, vehicle entering and leaving and the like can be solved, and the universality is high. The safety and stability of the formation can be ensured, and the flexibility of the formation and the traffic capacity of roads are improved.

Description

technical field [0001] The invention belongs to the field of the Internet of Vehicles, and relates to a vehicle formation control system and method under the Internet of Vehicles environment. Background technique [0002] With the development and application of mobile Internet, Internet of Things and wireless sensor network technology, the application of Internet of Vehicles technology is expected to play an important role in establishing intelligent transportation systems for cities in the future, reducing traffic congestion, reducing safety accidents, and improving traffic efficiency. One of the effective ways for future intelligent transportation goals. The business of the Internet of Vehicles is gradually evolving to a collaborative service application that supports automatic driving. As a typical application scenario of autonomous driving, platooning of vehicles can significantly improve traffic congestion, improve transportation efficiency, and further alleviate traff...

AI Technical Summary

Problems solved by technology

The integration and splitting of formation driving and vehicle formation, and the combination of vehicle entry and departure can significantly improve the flexibility and flexibility of the formation, and will enable the advantages of the vehicle formation to be fully utilized; most of the current research is only from the control In theory and method, all vehicles are assumed to be homogeneous moving bodies to analyze the control performance, but not from the perspective of the entire system and process. It is very necessary to carry out modular analysis and method design on the control system

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