Vehicle formation anti-interference control method and related device

Abstract

The invention belongs to the field of vehicle control, and discloses a vehicle formation anti-interference control method and a related device, and the method comprises the steps: obtaining the mass, displacement and speed of each vehicle in a vehicle formation, and the expected distance between each vehicle and a front vehicle; wherein each vehicle can communicate with the front r vehicles and the rear vehicle, and r is greater than 1; according to the mass, the displacement and the speed of each vehicle and the expected distance between the vehicle and the front vehicle, the acceleration of each vehicle is obtained through a pre-designed control equation and a pre-designed control protocol, and each vehicle is controlled through the acceleration of each vehicle. Compared with a traditional control method which only depends on front vehicle information, by considering the communication range between the vehicles, communication resources between the vehicles can be effectively reduced, the stability of a vehicle formation system is ensured, effective control over the vehicle distance error can be achieved, and the interference spreading phenomenon existing in a large-scale vehicle formation can be effectively weakened.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle control and relates to a vehicle formation anti-interference control method and related devices. Background Art

[0002] Vehicle formation is an important application in intelligent transportation systems. Through a series of automated control technologies, a group of vehicles can maintain a close distance and drive in an orderly queue. This formation method can significantly reduce air resistance and fuel consumption. With the progress of autonomous driving technology and the development of wireless communication technology, vehicle formation has gradually become an important means to achieve more efficient and safer traffic management.

[0003] Currently, in vehicle formation control, distributed control is usually used to achieve precise cooperative control between vehicles. Compared with the disadvantages of communication delay and bandwidth limitation in centralized control, distributed control realizes the control decision of each vehicle through local information exchange, reducing the communication burden and the complexity of centralized control.

[0004] However, distributed control is facing an important challenge, that is, the phenomenon of interference spread is likely to occur in the case of large-scale formation. Specifically, when a vehicle in the vehicle formation is interfered, these interferences will spread and gradually amplify in the formation due to vehicle-to-vehicle communication, resulting in an increase in the distance between vehicles in the vehicle formation queue, and ultimately affecting the overall stability and safety of the formation. In addition, existing research does not consider the non-linear dynamics of the vehicle formation system and the interference effects of the actual environment. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above-mentioned disadvantages of the prior art and provide a vehicle formation anti-interference control method and related devices.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions:

[0007] In the first aspect of the present invention, a vehicle formation anti-interference control method is provided, including: obtaining the mass, displacement, speed, and expected distance from the preceding vehicle of each vehicle in the vehicle formation; wherein, each vehicle can communicate with the preceding r vehicles and the following vehicle, r > 1; according to the mass, displacement, speed, and expected distance from the preceding vehicle of each vehicle, the acceleration of each vehicle is obtained through the following formula and each vehicle is controlled by the acceleration of each vehicle:

[0008]

[0009] Wherein:

[0010]

[0011] where, m iis the mass of the i-th vehicle, is the acceleration of the i-th vehicle, u i is the control protocol of the i-th vehicle, θ i is the external disturbance of the i-th vehicle, k i is the control protocol gain of the i-th vehicle, v i is the speed of the i-th vehicle, d i is the non-linear vehicle formation protocol of the i-th vehicle, d i-j is the non-linear vehicle formation protocol of the (i - j)-th vehicle, v i-r is the speed of the (i - r)-th vehicle, v i-1 is the speed of the (i - 1)-th vehicle, v i+1 is the speed of the (i + 1)-th vehicle, g i (x i , x i+1 ) is the formation protocol non-linear function, is the global non-linear gain of the formation protocol of the i-th vehicle, b i is the linear feedback gain of the formation protocol of the i-th vehicle, x i is the actual distance between the i-th vehicle and the vehicle in front, x i+1 is the actual distance between the (i + 1)-th vehicle and the vehicle in front, e i is the desired distance between the i-th vehicle and the vehicle in front, η 1 and c are preset positive constants.

[0012] Optionally, the formation protocol non-linear function is:

[0013]

[0014] where, e i+1 is the desired distance between the (i + 1)-th vehicle and the vehicle in front, is the forward tracking gain of the i-th vehicle, is the backward tracking gain of the i-th vehicle.

[0015] Optionally, the global non-linear gain of the formation protocol of the i-th vehicle the forward tracking gain of the i-th vehicle the backward tracking gain of the i-th vehicle the linear feedback gain b of the formation protocol of the i-th vehicle i 0.51; the control protocol gain k of the i-th vehicle i 05.

[0016] Optionally, it further includes: obtaining and determining the magnitude of r according to the anti-interference requirement level; where, the higher the anti-interference requirement level, the larger r is, and the maximum value of r is the total number of vehicles in the vehicle formation.

[0017] In a second aspect of the present invention, a vehicle platoon anti-interference control system is provided, including: a parameter acquisition module, configured to acquire the mass, displacement, speed, and expected distance from the preceding vehicle of each vehicle in the vehicle platoon; wherein each vehicle can communicate with the preceding r vehicles and the following vehicle, r > 1; a control module, configured to obtain the acceleration of each vehicle according to the mass, displacement, speed, and expected distance from the preceding vehicle of each vehicle, and control each vehicle through the acceleration of each vehicle:

[0018]

[0019] Wherein:

[0020]

[0021] Where m i is the mass of the i-th vehicle, is the acceleration of the i-th vehicle, u i is the control protocol of the i-th vehicle, θ i is the external interference of the i-th vehicle, k i is the control protocol gain of the i-th vehicle, v i is the speed of the i-th vehicle, d i is the non-linear vehicle platoon protocol of the i-th vehicle, d i-j is the non-linear vehicle platoon protocol of the i-j-th vehicle, v i-r is the speed of the i-r-th vehicle, v i-1 is the speed of the i-1-th vehicle, v i+1 is the speed of the i+1-th vehicle, g i (x i ,x i+1 ) is the platoon protocol non-linear function, is the platoon protocol global non-linear gain of the i-th vehicle, b i is the platoon protocol linear feedback gain of the i-th vehicle, x i is the actual distance between the i-th vehicle and the preceding vehicle, x i+1 is the actual distance between the i+1-th vehicle and the preceding vehicle, e i is the expected distance between the i-th vehicle and the preceding vehicle, η 1 and c are preset positive constants.

[0022] Optionally, the platoon protocol non-linear function is:

[0023]

[0024] Where e i+1 is the expected distance between the i+1-th vehicle and the preceding vehicle, is the forward tracking gain of the i-th vehicle, is the backward tracking gain of the i-th vehicle.

[0025] Optionally, the global non-linear gain of the formation protocol of the i-th vehicle The forward tracking gain of the i-th vehicle The backward tracking gain of the i-th vehicle The linear feedback gain b of the formation protocol of the i-th vehicle i 0.51; the control protocol gain k of the i-th vehicle i 05.

[0026] Optionally, it further includes: a communication distance setting module, configured to obtain and determine the size of r according to the anti-interference requirement level; where the higher the anti-interference requirement level, the larger r is, and the maximum value of r is the total number of vehicles in the vehicle formation.

[0027] In the third aspect of the present invention, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above vehicle formation anti-interference control method are implemented.

[0028] In the fourth aspect of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above vehicle formation anti-interference control method are implemented.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The vehicle formation anti-interference control method of the present invention proposes a distributed non-linear control protocol for the interference propagation problem in vehicle formation control. By considering the communication range between vehicles, this protocol can effectively control the vehicle spacing error. Through the innovatively designed control protocol u i and the non-linear vehicle formation protocol d i , considering that each vehicle can communicate the relative position and relative speed information with adjacent vehicles (including the vehicle in front and the vehicle behind), and in addition, each vehicle can communicate with the r vehicles in front and the first vehicle behind. Compared with the traditional control method that only relies on the information of the vehicle in front, it can effectively reduce the communication resources between vehicles and ensure the stability of the vehicle formation system. Compared with the traditional control method that only relies on the information of the vehicle in front, the method of the present invention can significantly reduce the propagation of interference in the vehicle formation as the communication distance between vehicles increases continuously, avoiding the unstable phenomenon caused by interference amplification. In addition, according to the definition of interference, external interferences of vehicles such as wind resistance, friction force, and modeling errors are included. Therefore, the present invention can improve traffic efficiency and reduce the wind resistance during vehicle driving. The method of the present invention can reduce the negative impact of interference propagation by increasing the communication distance of the vehicle formation, thereby achieving more stable vehicle formation control. Brief Description of the Drawings

[0031] Figure 1 It is a diagram of the vehicle formation anti-interference control method according to an embodiment of the present invention.

[0032] Figure 2 It is a schematic diagram of the vehicle formation communication protocol according to an embodiment of the present invention.

[0033] Figure 3 It is a schematic diagram of the position deviation of the vehicle formation with r = 1 according to an embodiment of the present invention.

[0034] Figure 4 It is a schematic diagram of the position deviation of the vehicle formation with r = 3 according to an embodiment of the present invention.

[0035] Figure 5 It is a schematic diagram of the position deviation of the vehicle formation with r = 10 according to an embodiment of the present invention.

[0036] Figure 6 It is a structural block diagram of the vehicle formation anti-interference control system according to an embodiment of the present invention. Detailed Description of the Preferred Embodiments

[0037] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0038] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0039] The present invention will be further described in detail below in conjunction with the accompanying drawings:

[0040] Refer to Figure 1, in an embodiment of the present invention, a vehicle platoon anti-interference control method is provided, which can suppress the interference spread phenomenon of large-scale vehicle platoons compared with the existing control design.

[0041] Specifically, the vehicle platoon anti-interference control method of the present invention includes the following steps:

[0042] S1: Obtain the mass, displacement, speed, and expected distance from the preceding vehicle of each vehicle in the vehicle platoon; wherein, each vehicle can communicate with the first r preceding vehicles and the following vehicle, and r > 1.

[0043] S2: According to the mass, displacement, speed, and expected distance from the preceding vehicle of each vehicle, obtain the acceleration of each vehicle through the following formula and control each vehicle through the acceleration of each vehicle:

[0044]

[0045] Wherein:

[0046]

[0047] where, m i is the mass of the i-th vehicle, is the acceleration of the i-th vehicle, u i is the control protocol of the i-th vehicle, θ i is the external interference of the i-th vehicle, k i is the control protocol gain of the i-th vehicle, v i is the speed of the i-th vehicle, d i is the non-linear vehicle platoon protocol of the i-th vehicle, d i-j is the non-linear vehicle platoon protocol of the i-j-th vehicle, v i-r is the speed of the i-r-th vehicle, v i-1 is the speed of the i-1-th vehicle, v i+1 is the speed of the i+1-th vehicle, g i (x i , x i+1 ) is the platoon protocol non-linear function, is the platoon protocol global non-linear gain of the i-th vehicle, b i is the platoon protocol linear feedback gain of the i-th vehicle, x i is the actual distance between the i-th vehicle and the preceding vehicle, x i+1 is the actual distance between the i+1-th vehicle and the preceding vehicle, e i is the expected distance between the i-th vehicle and the preceding vehicle, η 1 and c are preset positive constants.

[0048] The vehicle platoon anti-interference control method of the present invention proposes a distributed non-linear control protocol for the problem of interference propagation in vehicle platoon control. By considering the communication range between vehicles, this protocol can effectively control the vehicle spacing error. Through the innovatively designed control protocol u i and the non-linear vehicle platoon protocol d i , considering that each vehicle can communicate the relative position and relative speed information with adjacent vehicles (including the vehicle in front and the vehicle behind), in addition, each vehicle can communicate with the r vehicles in front and the first vehicle behind. Compared with the traditional control method that only relies on the information of the vehicle in front, it can effectively reduce the communication resources between vehicles and ensure the stability of the vehicle platoon system. Compared with the traditional control method that only relies on the information of the vehicle in front, the method of the present invention can significantly reduce the propagation of interference in the vehicle platoon as the communication distance between vehicles increases continuously, avoiding the instability phenomenon caused by interference amplification. In addition, according to the definition of interference, external interferences of vehicles such as wind resistance, friction force and modeling error are included. Therefore, the present invention can improve traffic efficiency and reduce the wind resistance during vehicle driving. The method of the present invention can reduce the negative impact of interference propagation by increasing the communication distance of the vehicle platoon, so as to achieve more stable vehicle platoon control.

[0049] In a possible implementation manner, the non-linear function of the platoon protocol is:

[0050]

[0051] where, e i+1 is the expected distance between the (i + 1)-th vehicle and the vehicle in front, is the forward tracking gain of the i-th vehicle, is the backward tracking gain of the i-th vehicle.

[0052] In a possible implementation manner, the vehicle platoon anti-interference control method further includes: obtaining and determining the size of r according to the anti-interference requirement level; where, the higher the anti-interference requirement level, the larger r is, and the maximum value of r is the total number of vehicles in the vehicle platoon.

[0053] Explanatorily, vehicle platoon anti-interference control is to design a distributed control method for vehicle platoons to weaken the interference spread phenomenon, requiring that the inter-vehicle distance between each vehicle in the vehicle platoon and other vehicles always maintains its expected inter-vehicle distance, and at the same time, the speed of each vehicle can be consistent with the speed of the leader vehicle.

[0054] Construct the dynamic model of the vehicle:

[0055]

[0056] The entire vehicle platoon consists of n + 1 vehicles, define p i and vi are the displacement and velocity of the \(i\)-th vehicle, respectively, in m i is the mass of the \(i\)-th vehicle, \(\theta\) i represents the external disturbances of the vehicle, such as wind resistance, friction force, and modeling errors, etc. The relative position and relative velocity of adjacent vehicles are obtained through on-vehicle sensors, and the displacement \(p\) of the leader vehicle is received through the on-vehicle communication system 0 , velocity \(v\) 0 and acceleration information Furthermore, define the total disturbance signal of the vehicle formation as where the \(i\)-th term is expressed as

[0057] Design a control protocol \(u\) for each vehicle based on the above relevant parameters i , which is specifically expressed as:

[0058]

[0059] where \(x\) i = \(p\) i-1 - \(p\) i represents the distance between the \(i\)-th vehicle and the vehicle in front, is the preset desired inter-vehicle distance, \(d\) i represents the non-linear vehicle formation protocol.

[0060] For easy understanding, an example of a non-linear vehicle formation protocol is given here, that is, let;

[0061]

[0062] In addition, the vehicle formation protocol also needs to satisfy \(d\) i (\(e\) i , \(e\) i+1 ) = 0 (\(i = 1,..., n - 1\)) and \(d\) n (\(e\) n ) = 0. That is to say, when the inter-vehicle distance \(x\) between each vehicle in the fleet and other vehicles is equal to its desired inter-vehicle distance \(e\), the speed of each vehicle reaches the speed \(v\) of its leader vehicle 0 . When \(i \leq 0\), let \(d\) i = 0 and \(v\) i = \(v\) 0 .

[0063] In addition, the vehicle formation protocol needs to satisfy the following conditions:

[0064]

[0065] where \(\eta\) 1 and \(c\) are both positive constants.

[0066] However, in the actual application scenario, the vehicle formation protocol \(d\)i Usually in a non - linear form. To more clearly understand the actual meaning of the above conditions, we can consider letting d i (x i ,x i+1 ) be in a linear form, specifically expressed as Therefore, condition (i) can be further expressed as This means that the i - th vehicle has a stronger "connection" with its adjacent leading vehicle.

[0067] In the design of the present invention, each vehicle in the vehicle formation can communicate the relative position and relative speed information with adjacent vehicles (including the leading vehicle and the following vehicle). In addition, each vehicle can communicate with the first r ∈ {1,..., n} vehicles in front and the first vehicle behind, as Figure 2 shown. The dotted lines in the figure represent speed information, and the solid lines represent position information. Here, the communication distance is set to r = 3, and the entire vehicle fleet contains n + 1 vehicles, and the vehicle number 0 is the leader vehicle.

[0068] To prove the effectiveness of this method, we further explore how the communication distance affects the upper bound of the maximum overshoot of the vehicle spacing error in vehicle formation control. Based on the control protocol u i of the vehicle formation, we further successfully obtain the upper bound max i {||x i - e i ||} of the maximum overshoot of the vehicle spacing error. For this upper bound, the influence of the disturbance in the vehicle formation is scaled according to . Therefore, as the communication distance between vehicles continuously increases, this upper bound shows a gradually decreasing trend. Thus, we draw the conclusion that to make the vehicle formation control more stable, it can be achieved by expanding the communication range between vehicles. Compared with the existing control design, the anti - disturbance control method for vehicle formation of the present invention can suppress the spread of interference in large - scale formations of intelligent connected vehicles.

[0069] Specifically, based on the control protocol u i designed for each vehicle, the vehicle spacing error can be derived as:

[0070]

[0071] Among them, is small enough, is a matrix, η 1 and η 2 are positive constants in the matrix measure, and σ is also a positive constant in the derivation process. Here, the influence of the disturbance w(t) on each x i is related to |·| * . Further, first, the definition of |·| * is given. Given a vector can be decomposed into wherein i = 1, ..., m - 1, is a positive definite diagonal matrix, and a vector norm is defined So wherein is from |b| D,2 = |Db| 2 defines the D - weighted 2 - norm. Further, define μ * is the matrix measure induced by the norm |·| * induced matrix measure

[0072] Here, let q i > 0, i = 1, ..., m be the terms of the i - th diagonal element of D, and define On this basis, for the following inequality holds for the decomposition

[0073]

[0074] Based on the above analysis process, this means that the interference of the vehicle formation can be deduced as Furthermore, the influence of the interference in the vehicle formation is scaled according to scaled by

[0075] Based on the error upper bound of the vehicle formation, it is further obtained that

[0076]

[0077] wherein According to the above formula, we can conclude that the above - mentioned control protocol can effectively control the vehicle spacing error

[0078] In a possible implementation, in the actual application scenario, due to the complex and changeable operating environment of vehicles, and there are many difficulties in conducting large - scale real - vehicle formation control experiments, such as high cost, high safety risk, and low operability. Therefore, a simulation experiment of the distributed non - linear control protocol proposed in the text is carried out in Matlab to simulate the operation of the vehicle queue under different communication ranges. The experiment uses a vehicle queue composed of 11 vehicles and uses the above - mentioned control protocol

[0079] For the convenience of comparative research, the same control parameters are adopted in three communication ranges of r = 1, r = 3, and r = 10. Under the conditions of satisfying (i) and (ii) in step 3, the relevant parameters are designed as follows: the global non - linear gain of the formation protocol of the i - th vehicle The forward tracking gain of the i - th vehicle The backward tracking gain of the i-th vehicle The formation protocol linear feedback gain b of the i-th vehicle i 0.51; the control protocol gain k of the i-th vehicle i 0.55; the control protocol gain k of the i-th vehicle i 05; the desired distance parameter is designed as: e 1 =…=e 10 = 10m, the external interference signal is designed as: The speed of the leader vehicle is designed according to the given piecewise function as:

[0080]

[0081] See Figures 3 to 5 , which shows a vehicle formation composed of 11 vehicles, and the position deviation x i (t)-e i , i = 1,..., 10. Among them, the blue line represents the displacement deviation x 1 (t)-e 1 of the first vehicle, and the red line represents the displacement deviation x 10 (t)-e 10 of the 11th vehicle, and the black line represents the displacement deviations of the remaining intermediate vehicles. It is not difficult to find that the error decays faster as the communication distance r increases. This is because as the communication distance r increases, the upper bound max i {||x i -e i ||} of the vehicle spacing error maximum overshoot will decrease; among them, the vehicle error decay speed represented by the red line is much higher than that represented by the blue line. This is because as the communication distance r increases, the influence of the external interference θ i of each vehicle and the acceleration of the leader vehicle decays faster along the queue.

[0082] The following is an apparatus embodiment of the present invention, which can be used to execute the method embodiment of the present invention. For the details not disclosed in the apparatus embodiment, please refer to the method embodiment of the present invention.

[0083] See Figure 6 , in another embodiment of the present invention, a vehicle formation anti-interference control system is provided, which can be used to implement the above vehicle formation anti-interference control method. Specifically, the vehicle formation anti-interference control system includes a parameter acquisition module and a control module.

[0084] Among them, the parameter acquisition module is used to acquire the mass, displacement, speed, and expected distance from the preceding vehicle of each vehicle in the vehicle formation; among them, each vehicle can communicate with the first r vehicles and the following vehicle, r > 1; the control module is used to obtain the acceleration of each vehicle according to the mass, displacement, speed, and expected distance from the preceding vehicle of each vehicle, and control each vehicle through the acceleration of each vehicle:

[0085]

[0086] Among them:

[0087]

[0088] Among them, m i is the mass of the i-th vehicle, is the acceleration of the i-th vehicle, u i is the control protocol of the i-th vehicle, θ i is the external disturbance of the i-th vehicle, k i is the control protocol gain of the i-th vehicle, v i is the speed of the i-th vehicle, d i is the non-linear vehicle formation protocol of the i-th vehicle, d i-j is the non-linear vehicle formation protocol of the (i - j)-th vehicle, v i-r is the speed of the (i - r)-th vehicle, v i-1 is the speed of the (i - 1)-th vehicle, v i+1 is the speed of the (i + 1)-th vehicle, g i (x i ,x i+1 ) is the formation protocol non-linear function, is the formation protocol global non-linear gain of the i-th vehicle, b i is the formation protocol linear feedback gain of the i-th vehicle, x i is the actual distance between the i-th vehicle and the preceding vehicle, x i+1 is the actual distance between the (i + 1)-th vehicle and the preceding vehicle, e i is the expected distance between the i-th vehicle and the preceding vehicle, η 1 and c are preset positive constants.

[0089] In a possible implementation manner, the formation protocol non-linear function is:

[0090]

[0091] Among them, e i+1 is the expected distance between the (i + 1)-th vehicle and the preceding vehicle, is the forward tracking gain of the i-th vehicle, is the backward tracking gain of the i-th vehicle.

[0092] In a possible implementation, the global non-linear gain of the formation protocol of the i-th vehicle The forward tracking gain of the i-th vehicle The backward tracking gain of the i-th vehicle The linear feedback gain b of the formation protocol of the i-th vehicle i 0.51; the control protocol gain k of the i-th vehicle i 05.

[0093] In a possible implementation, the vehicle formation anti-interference control system further includes: a communication distance setting module, configured to obtain and determine the magnitude of r according to the anti-interference requirement level; wherein, the higher the anti-interference requirement level, the larger r is, and the maximum value of r is the total number of vehicles in the vehicle formation.

[0094] All relevant contents of each step involved in the embodiments of the foregoing vehicle formation anti-interference control method can be cited in the function descriptions of the corresponding functional modules of the vehicle formation anti-interference control system in the embodiments of the present invention, and will not be elaborated herein.

[0095] The division of modules in the embodiments of the present invention is illustrative, merely a logical function division. In actual implementation, there may be other division methods. In addition, in each embodiment of the present invention, the functional modules can be integrated in one processor, or can exist separately physically, or two or more modules can be integrated in one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules.

[0096] In another embodiment of the present invention, a computer device is provided. The computer device includes a processor and a memory. The memory is used to store a computer program. The computer program includes program instructions. The processor is used to execute the program instructions stored in the computer storage medium. The processor may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application-Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, and is suitable for implementing one or more instructions. Specifically, it is suitable for loading and executing one or more instructions in the computer storage medium to implement the corresponding method flow or corresponding function; the processor described in the embodiments of the present invention can be used for the operation of the vehicle formation anti-interference control method.

[0097] In another embodiment of the present invention, the present invention further provides a storage medium, specifically a computer-readable storage medium (Memory). The computer-readable storage medium is a memory device in a computer device and is used to store programs and data. It can be understood that the computer-readable storage medium here can include both the built-in storage medium in the computer device and, of course, the extended storage medium supported by the computer device. The computer-readable storage medium provides a storage space, and this storage space stores the operating system of the terminal. And, one or more instructions suitable for being loaded and executed by the processor are also stored in this storage space. These instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory (non-volatile = memory), such as at least one disk memory. One or more instructions stored in the computer-readable storage medium can be loaded and executed by the processor to implement the corresponding steps of the vehicle formation anti-interference control method in the above embodiments.

[0098] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0099] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the specified functions in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0100] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured product including an instruction device, and this instruction device implements the specified functions in the flow Figure 1one or more processes and / or blocks Figure 1 functions specified in one or more blocks.

[0101] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one or more processes and / or blocks Figure 1 one or more blocks.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent replacements can still be made to the specific implementation manners of the present invention. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. A vehicle formation anti-interference control method, characterized in that: include: Obtain the mass, displacement, speed and expected distance from the front vehicle of each vehicle in the vehicle formation; each vehicle can communicate with the front r vehicles and the rear vehicle, r>1; According to the mass, displacement, speed and expected distance of each vehicle from the preceding vehicle, the acceleration of each vehicle is obtained by the following formula and each vehicle is controlled by the acceleration of each vehicle: in: d i =l i g i (x i ,x i+1 )+b i (x i -e i ) Among them, m i is the mass of the i-th vehicle, is the acceleration of the i-th vehicle, u i is the control protocol of the i-th vehicle, θ i is the external disturbance of the i-th vehicle, k i is the control protocol gain of the i-th vehicle, v i is the speed of the i-th vehicle, d i is the nonlinear vehicle platooning protocol for the i-th vehicle, d i-j is the nonlinear vehicle platooning protocol for the ijth vehicle, v i-r is the speed of the irth vehicle, v i-1 is the speed of the i-1th vehicle, v i+1 is the speed of the i+1th vehicle, g i (x i ,x i+1 ) is the nonlinear function of the formation protocol, l i is the global nonlinear gain of the platooning protocol for the i-th vehicle, b i is the linear feedback gain of the platooning protocol of the i-th vehicle, x i is the actual distance between the i-th vehicle and the vehicle in front, x i+1 is the actual distance between the i+1th vehicle and the vehicle in front, e i is the expected distance between the i-th vehicle and the preceding vehicle, η1 and c are preset positive constants.

2. The vehicle formation anti-interference control method according to claim 1, characterized in that: The formation protocol nonlinear function is: Among them, e i+1 is the expected distance between the i+1th vehicle and the preceding vehicle, is the forward tracking gain of the i-th vehicle, is the backward tracking gain of the i-th vehicle.

3. The vehicle formation anti-interference control method according to claim 2, characterized in that: The global nonlinear gain l of the platooning protocol of the i-th vehicle i =0.5; the forward tracking gain of the i-th vehicle The backward tracking gain of the i-th vehicle The linear feedback gain b of the formation protocol of the i-th vehicle i =0.1; the control protocol gain k of the i-th vehicle i =5.

4. The vehicle formation anti-interference control method according to claim 1, characterized in that: Also includes: The size of r is obtained and determined according to the anti-interference requirement level; wherein, the higher the anti-interference requirement level, the larger r is, and the maximum value of r is the total number of vehicles in the vehicle formation.

5. A vehicle formation anti-interference control system, characterized in that: include: The parameter acquisition module is used to obtain the mass, displacement, speed and expected distance from the front vehicle of each vehicle in the vehicle formation; wherein each vehicle can communicate with the front r vehicles and the rear vehicle, r>1; The control module is used to obtain the acceleration of each vehicle according to the mass, displacement, speed and expected distance from the leading vehicle of each vehicle through the following formula and control each vehicle through the acceleration of each vehicle: in: d i =l i g i (x i ,x i+1 )+b i (x i -e i ) Among them, m i is the mass of the i-th vehicle, is the acceleration of the i-th vehicle, u i is the control protocol of the i-th vehicle, θ i is the external disturbance of the i-th vehicle, k i is the control protocol gain of the i-th vehicle, v i is the speed of the i-th vehicle, d i is the nonlinear vehicle platooning protocol for the i-th vehicle, d i-j is the nonlinear vehicle platooning protocol for the ijth vehicle, v i-r is the speed of the irth vehicle, v i-1 is the speed of the i-1th vehicle, v i+1 is the speed of the i+1th vehicle, g i (x i ,x i+1 ) is the nonlinear function of the formation protocol, l i is the global nonlinear gain of the platooning protocol for the i-th vehicle, b i is the linear feedback gain of the platooning protocol of the i-th vehicle, x i is the actual distance between the i-th vehicle and the vehicle in front, x i+1 is the actual distance between the i+1th vehicle and the vehicle in front, e i is the expected distance between the i-th vehicle and the preceding vehicle, η1 and c are preset positive constants.

6. The vehicle formation anti-interference control system according to claim 5, characterized in that: The formation protocol nonlinear function is: Among them, e i+1 is the expected distance between the i+1th vehicle and the preceding vehicle, is the forward tracking gain of the i-th vehicle, is the backward tracking gain of the i-th vehicle.

7. The vehicle formation anti-interference control system according to claim 6, characterized in that: The global nonlinear gain l of the platooning protocol of the i-th vehicle i =0.5; the forward tracking gain of the i-th vehicle The backward tracking gain of the i-th vehicle The linear feedback gain b of the formation protocol of the i-th vehicle i =0.1; the control protocol gain k of the i-th vehicle i =5.

8. The vehicle formation anti-interference control system according to claim 5, characterized in that: Also includes: The communication distance setting module is used to obtain and determine the size of r according to the anti-interference requirement level; wherein, the higher the anti-interference requirement level, the larger r is, and the maximum value of r is the total number of vehicles in the vehicle formation.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the vehicle formation anti-interference control method according to any one of claims 1 to 4 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the vehicle formation anti-interference control method according to any one of claims 1 to 4 are implemented.

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