Cooperative adaptive cruise control robust fault tolerance method and device

Abstract

The invention discloses a cooperative adaptive cruise control robust fault tolerance method and device. The method comprises the following steps that a vehicle system mathematical model with nonlinear system parameter perturbation, multi-source unknown external interference, radar performance defects and execution control performance defects is constructed; a CACC-SOTIF robust non-fragile dynamic output feedback H-infinity active fault-tolerant controller is designed, and an augmented closed-loop system with an interference estimation error, a radar performance defect estimation error, an execution control performance defect estimation error and unknown interference is constructed; and the gain of the CACC-SOTIF robust non-fragile dynamic output feedback H-infinity active fault-tolerant controller is solved, so an augmented closed-loop system with interference estimation errors, radar performance defect estimation errors, execution control performance defect estimation errors and unknown interference is asymptotically stable, and H-infinity performance is achieved. The method can cope with problems of vehicle system parameter time-varying perturbation, controller parameter perturbation and multi-source external interference while guaranteeing safety of the expected function of cooperative adaptive cruise control.

Description

technical field [0001] The invention relates to the technical field of intelligent networked vehicles, in particular to a robust fault-tolerant method and device for cooperative adaptive cruise control. Background technique [0002] Cooperative Adaptive Cruise Control (CACC) is an ICV technology that is closest to its final form. By extending V2X wireless communication on the traditional adaptive cruise control (Adaptive Cruise Control, ACC), this technology can control vehicles to form a stable queue, thereby achieving the purpose of improving road traffic efficiency, improving traffic congestion and reducing fuel consumption. Typical application of ICV technology in highway scenarios. [0003] Cooperative adaptive cruise control relies on complex and uncertain perception, communication and wire-control execution devices on hardware, and corresponding algorithms on software to realize operation in complex and unstructured road environments. These new features make coopera...

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Problems solved by technology

[0006] For this reason, an object of the present invention is to propose a kind of cooperative adaptive cruise control robust fault-tolerant method, this method solves the problem that due to the design defect of the perception sensor and the control-by-wire execution device in the actual operation process of the cooperative adaptive cruise control , resulting in unreasonable risks such as vehicle collisions, and at the same time deal with practical problems that may be encountered when the vehicle is running in the actual environment, including: nonlinear time-varying perturbation of vehicle system parameters, nonlinear time-varying controller parameters Perturbation and external multi-source unknown interference

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