Heterogeneous multi-vehicle cooperative control method based on multi-source information topology communication system

Abstract

The invention provides a heterogeneous multi-vehicle cooperative control method based on a multi-source information topology communication system. The system comprises a central server, a vehicle-mounted state monitoring system and a power management control system. The method comprises the steps of setting a communication neighborhood range and a time headway parameter of a vehicle queue by using the central server, and constructing a cooperative controller of a single feedforward signal according to a vehicle number and state information; on the basis, expanding a cooperative controller of a single feed-forward signal into a multi-source feed-forward information controller under communication delay; coupling the cooperative controller into a state space closed-loop control model of the single vehicle; constructing an extended state space model of the single-vehicle closed-loop control model under communication delay; and finally, constructing a closed-loop control state space model coupled in multiple vehicles, and synchronously calculating expected state information of all vehicles in real time. According to the method, cooperative control of the heterogeneous vehicle queue in the communication delay environment is realized through the V2V, and the stability is considered while the safety is ensured.

Description

technical field [0001] The invention belongs to the field of multi-vehicle cooperative control technology and intelligent network connection technology, in particular to a heterogeneous multi-vehicle cooperative control method based on a multi-source information topology communication system. Background technique [0002] With the continuous improvement of traffic safety requirements, traffic efficiency requirements, and energy-saving requirements, some studies have shown that the gradual transition from the intelligent control of a single vehicle to the coordinated control of group vehicles can not only ensure traffic safety, but also greatly improve traffic flow. Efficiency reduces congestion and reduces energy consumption for ecological driving. At this stage, the multi-vehicle cooperative driving technology is still in the research stage. Due to the complexity and uncertainty of real road traffic, there are only a small number of actual vehicle tests. Designing a complet...

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Problems solved by technology

[0003] Patent CN110816529A proposes a vehicle cooperative adaptive cruise control method based on a variable time-spacing strategy; patent CN111811834A proposes a vehicle-to-vehicle communication-based vehicle platoon autonomous driving ability test method and system, this method can only realize two workshops V2V communication, but lack of in-depth analysis of the communication time lag problem, has not considered the current vehicle and forward multi-vehicle information interaction technology; patent CN109144076B proposes a multi-vehicle horizontal and vertical coupling cooperative control system and control method, this method can Improve the safety performance of the vehicle, but lack the consideration of the communication delay problem. In addition, the use of neural network analysis will increase the calculation time of the system and lack timeliness; the patent CN111845745A proposes a vehicle queue control method and system considering economy, Comprehensively consider the economic optimization of vehicles platooning, but there is a lack of effective analysis of the heterogeneous characteristics of multiple vehicles, and there are limitations

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