Time-lag-containing vehicle queue stability control method and system suitable for any communication topology

Abstract

The invention discloses a time-lag-containing vehicle queue stability control method and system suitable for any communication topology, and the method comprises the steps: building a communication time-lag-containing distributed controller based on the communication topology, decoupling a time-lag-containing vehicle queue closed-loop control system into a plurality of subsystems through the Jordan transformation of a matrix, the condition that the Laplacian matrix of the communication topology simultaneously contains real number characteristic values and conjugate complex number characteristic values can be handled, and the problem of heavy characteristic values can be handled; by solving the pure virtual root and the critical time lag of the characteristic equation of the subsystem and calculating the root trend of the pure virtual root at the critical time lag, the accurate time lag boundary and the stability domain of the subsystem can be obtained; all the subsystems are comprehensively considered, the intersection of the stability domains of the subsystems is taken, the stability domain and the accurate time lag boundary of the vehicle queue are finally obtained, it can be guaranteed that the vehicle queue control system stably runs in the calculated time lag boundary, sharing interaction of workshop state information is flexibly controlled, the small vehicle following distance can be adopted, and the road capacity is increased.

Description

technical field [0001] The invention belongs to the field of vehicle queue control, in particular to a time-delay-containing vehicle queue stability control method and system applicable to any communication topology. Background technique [0002] In recent years, with the growth of the number of motor vehicles, people's travel has been greatly facilitated, but it has also brought serious problems such as frequent traffic congestion, increased energy consumption, and decreased air quality. Studies have shown that intelligent vehicles can realize the "sharing" interaction of workshop status information through various wireless communication methods such as vehicle-vehicle communication and vehicle-infrastructure communication, so that vehicles can drive in a queue, which can improve driving safety, increase traffic capacity, and reduce energy consumption. consume. [0003] However, due to objective factors such as communication bandwidth and channel congestion, there must be ...

AI Technical Summary

Problems solved by technology

What is more difficult is that these real eigenvalues ​​and complex eigenvalues ​​may also be repeated roots

These complexities about the eigenvalues ​​of the Laplacian matrix, intertwined with the communication time delay, bring serious difficulties in the design and analysis of the stability control of the vehicle platoon

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