A vehicle formation control system and method in a vehicle networking environment

Abstract

The invention relates to a vehicle formation control system and method in a vehicle networking environment, and belongs to the field of vehicle networking. The method includes an information system and a control system. The control system is wired to the information system and the vehicle physical system, receives information from the information system and executes control commands, including: a speed controller and an angle controller. On the basis of establishing the pilot-following model and the system error model, a Lyapunov stability theory is proposed to design a pilot-following speed controller with time-varying following distance, so that the formation vehicles can keep stable following at different distances at different speeds. The advantages of the present invention lie in that the structure of the vehicle information system and the control system are comprehensively considered and the pilot-following control model is optimized, which can solve the problems of formation driving control such as formation formation, straight driving, curve driving, and vehicle entering and leaving the queue, and has the advantages of general suitability. It can ensure the safety and stability of the formation, improve the flexibility of the formation and the traffic capacity of the road.

Description

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

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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