Multi-vehicle cooperative control method and device for guaranteeing rapid formation and stability of vehicles

Abstract

The invention discloses a multi-vehicle cooperative control method and device for guaranteeing rapid formation and stability of vehicles, and the method comprises the steps: 1), an information collection module which is used for a controlled vehicle to collect the real-time state information of a pilot vehicle, an adjacent vehicle and the controlled vehicle; 2) a queue forming control module which ensures that a multi-vehicle system which is located on different lanes and runs at different vehicle speeds forms a queue; and 3) a queue stability control module which realizes the stability of a queue system by applying a queue stability robust cooperative control algorithm. According to the control method, a vehicle dynamic system and a cluster motion control algorithm are combined, and the problem that traditional queue forming control neglects vehicle dynamic characteristics is solved; according to the method, the stability of the queue system is guaranteed based on the Lyapunov-Crasovski stability theory, the redundancy of the control system can be reduced, and the method is suitable for popularization and application; in addition, the method also considers the phenomena of data packet loss and information time delay which sometimes occur in the information transmission process, and the control security level is higher.

Description

technical field [0001] The invention relates to a multi-vehicle cooperative control method and device for ensuring rapid formation and stability of vehicles, belonging to the field of multi-vehicle platoon control. Background technique [0002] In actual traffic scenarios, in order to adapt to the complex and changeable surrounding environment, vehicles are not located in the same lane in most cases, but drive in different lanes at different speeds. Therefore, from the perspective of control realization, distributed control of multi-vehicle platoons can be divided into platoon shaping control and platoon stability control. Among them, the platoon shaping control focuses on how to make the vehicles in different states form a platoon safely and smoothly, while the platoon stability control focuses on how to make the vehicles run stably according to the desired speed and geometric configuration. [0003] First of all, in the formation control, since it involves the variable sp...

AI Technical Summary

Problems solved by technology

[0005] However, the existing multi-vehicle platoon control research has obvious limitations and deficiencies

[0006] First of all, the traditional multi-vehicle platoon formation control research based on the multi-agent cluster motion strategy often ignores the problem of vehicle dynamics.

Secondly, most of the existing research methods have problems such as too single consideration of factors affecting the longitudinal driving stability of the platoon, low precision of the designed control method, and redundancy in the control system.

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