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

Abstract

The invention proposes a heterogeneous multi-vehicle cooperative control method based on a multi-source information topology communication system. The system of the present invention includes a central server, a vehicle-mounted state monitoring system, and a power management control system. The method of the invention uses the central server to set the communication neighborhood range and headway parameters of the vehicle platoon, and constructs a cooperative controller of a single feedforward signal according to the vehicle number and state information; on this basis, the cooperative control of a single feedforward signal The controller is extended to a multi-source feedforward information controller under the communication delay; the cooperative controller is coupled into the state space closed-loop control model of the bicycle; the extended state space model of the single-vehicle closed-loop control model under the communication delay is constructed; The closed-loop control state space model of the internal coupling of the vehicle, which simultaneously calculates the desired state information of all vehicles in real time. The present invention realizes the coordinated control of heterogeneous vehicle platoons in the communication delay environment through V2V, so as to ensure the safety and at the same time take into account the stability.

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...

AI Technical Summary

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

Images