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A fully distributed control method for interconnected heterogeneous vehicles based on uniform quantized communication data

A technology of uniform quantification and communication data, applied in the field of interconnected vehicle systems, can solve problems such as increasing the complexity and difficulty of distributed control design, violent fluctuations in vehicle acceleration, and few research results, etc., to achieve good scalability and flexibility , The effect of small fluctuations in the response curve

Active Publication Date: 2022-08-05
TIANJIN NORMAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, at present, there are few research results in this area
[0004] Therefore, choosing an appropriate quantization mechanism and designing a suitable control law for the connected vehicle system face two major challenges: 1) In order to ensure a comfortable driving experience, it is necessary to select an appropriate quantization mechanism to avoid system instability and drastic fluctuations in vehicle acceleration changes
2) Using quantitative communication data, large-scale coupled interconnected vehicle systems increase the complexity and difficulty of distributed control design

Method used

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  • A fully distributed control method for interconnected heterogeneous vehicles based on uniform quantized communication data
  • A fully distributed control method for interconnected heterogeneous vehicles based on uniform quantized communication data
  • A fully distributed control method for interconnected heterogeneous vehicles based on uniform quantized communication data

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Embodiment 1

[0173] In order to prove the robust and superiority of interconnected vehicle -based interconnecting vehicles provided by the present invention based on quantitative communication data, the following simulation experiments were conducted:

[0174] The interconnect vehicle system composed of 5 smart vehicles, one of which is marked with 0, the four followed vehicles are marked with 1,2,3,4, and the time constant of the transmission system of all vehicles is The ideal workshop distance is D i,i-1 = 20M, follow the length of the vehicle to L, respectively L 1 = 4.4m, L 2 = 4.8m, L 3 = 4.9m, L 4 = 4.5m, the initial state of the leader car is S 0 (t) = 0m, v 0 (T) = 15m / s, and the expected speed trajectory is

[0175]

[0176] The initial state of followed by the vehicle is an ideal state, that is, the spacing error and zero speed error of the initial workshop. The disturbance information of all follow vehicles is D i (T) = 0.1Sin (t), the sensitivity of speed quantization is Δ v = ...

Embodiment 2

[0180] In order to verify the superiority of the synergistic control algorithm of heterogeneous connected vehicles based on a uniform quantitative communication mechanism designed by the present invention, the comparison of simulation results of centralized controller and index quantification mechanism proposed by existing technologies.

[0181] In the process of comparison simulation, vehicle dynamics, expected workshop distance, first vehicle speed trajectory is consistent with the initial state of all vehicles as the above simulation. The speed quantization parameters and acceleration quantitative parameters of the first car are Δ v = 0.5, Δ a = 0.3. Using the concentrated controller algorithm proposed in the existing technologies 1, by solving the linear matrix of about 150*150 dimensions, the controller gain is K = [9.801, 0.3010, 1.80012.110, 0.612].

[0182] Comparison of simulation pictures such as image 3 (a)-(f) shown, from image 3 (D) It can be seen that the follow -up ...

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Abstract

The invention provides a fully distributed control method for interconnected heterogeneous vehicles based on uniform quantized communication data. Including: using a two-way communication strategy, each vehicle transmits the quantized state information to the front and rear vehicles. In order to reduce the impact of quantization errors and external disturbances on system performance, each following vehicle designs a coupled sliding mode surface based on the obtained quantization information. According to the obtained quantitative information of the front and rear vehicles, a new cooperative tracking controller is designed for each following vehicle by applying the sliding mode control method. The present invention designs a new cooperative controller for each following vehicle; by slightly limiting the coupling strength coefficient of the sliding mode surface, the string stability of the fleet can be ensured. The method of the present invention only uses the quantitative information of the front and rear vehicles, and the design method is completely distributed, without using any global information of the system. Through simulation experiments, the effectiveness and superiority of the method of the present invention are proved.

Description

Technical field [0001] The invention involves the technology field of connected vehicle systems. Specifically, it is particularly involved in a full distributed control method based on a uniformly quantitative communication data. Background technique [0002] The coordinated control of the Internet vehicle system is a hot spot for the international intelligent transportation industry. It realizes the information interaction and sharing of the car (V2V) and the roadside infrastructure (V2I) through communication technology. , Sensing, computing and control technology, complete the control tasks of collaborative driving. Compared with the driving mode of the bicycle, the coordinated driving of the Internet vehicle has the advantages of reducing traffic congestion, reducing energy consumption and exhaust emissions. Different control technologies have been applied to the Internet vehicle system. For example, model prediction control, layered logic blur control, robust H∞ control, and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02B60W50/00
CPCG05D1/0257G05D1/0221G05D1/0295G05D1/0276B60W50/00B60W2050/0002B60W2556/65
Inventor 赵园赵子平
Owner TIANJIN NORMAL UNIVERSITY