A preset time fault-tolerant control method for two-dimensional heterogeneous intelligent connected vehicle platoon

Abstract

This invention relates to the design of a preset-time fault-tolerant control method for a two-dimensional heterogeneous intelligent connected vehicle (ICV) platoon. The invention constructs a preset-time fault-tolerant control method for a two-dimensional heterogeneous ICV platoon, including longitudinal / lateral two-dimensional dynamic models of the platoon under actuator failure and external interference, a fault-based two-dimensional dynamic coupling vehicle spacing error strategy, a distributed preset-time collaborative fault-tolerant control strategy for the platoon, and feasibility conditions and criteria. This invention addresses the heterogeneous ICV platoon system affected by actuator failure and external interference by constructing longitudinal and lateral two-dimensional dynamic models. Next, it combines multiple theories to build an information flow topology model and constructs a fault-based two-dimensional dynamic coupling vehicle spacing error strategy. Based on control theory, a distributed preset-time collaborative fault-tolerant control strategy is formed. Finally, an internal stability criterion is established to analyze and synthesize the platoon's stability, controllability, and observability. The beneficial effect of this invention is that it solves the preset-time fault-tolerant control problem of two-dimensional heterogeneous ICV platoons, improving the safety of ICV platoons.

Description

Technical Field

[0001] This invention relates to the field of intelligent connected vehicle platooning coordination and fault-tolerant control; specifically, it relates to a preset time fault-tolerant control method for two-dimensional heterogeneous intelligent connected vehicle platoons. Background Technology

[0002] As a core area of ​​technology in the intelligent connected vehicle industry, intelligent connected vehicle platoons organically integrate advanced control, vehicle-to-everything (V2X) mobile communication computing, and autonomous driving. They are a powerful driving force for the intelligent, connected, and shared development of the traditional automotive industry, and a strong support for promoting the transformation and upgrading of the traditional automotive industry and the emergence of new intelligent transportation business models. Due to the complexity of the traffic environment and the vulnerability of intelligent connected vehicle collaborative control security, random and unpredictable actuator failures exist within intelligent connected vehicle platoons. This results in incomplete, asynchronous, and spurious control signals, which not only jeopardize the safety, reliability, and functional safety of intelligent connected vehicles, but also threaten the internal closed-loop stability and platoon stability of the entire intelligent connected vehicle platoon. Furthermore, external interference such as road conditions and weather factors further increase the complexity of platoon control security.

[0003] To address actuator failures and external interference, and to improve the safety and stability of intelligent connected vehicle platoons, many methods have been proposed. The literature [Guo G, Li P, Hao L YA new quadratic spacing policy and adaptive fault-tolerant platooning with actuator saturation[J].IEEE Transactions on Intelligent Transportation Systems,2022,23(2):1200-1212] studies the actuator failure problem of intelligent connected vehicle platoons and designs a distributed sliding mode elastic control scheme based on a quadratic spacing strategy to ensure the stability of the platoon and traffic flow, and maintain its safe driving. The literature [Guo X, Xu W, Wang JL, Park Ju H, Yan H. BLF-Based neuroadaptive fault-tolerant control for nonlinear vehicular platoon with time-varying fault directions and distance restrictions[J].IEEE Transactions on Intelligent Transportation Systems,2022,23(8):12388-12398.] studies the time-varying direction actuator failure and offset fault problems suffered by isomorphic intelligent connected vehicle platoon systems, and designs a sliding mode elastic control scheme based on neural network adaptation to ensure the safety and stability of intelligent connected vehicle platoons.

[0004] The aforementioned literature provides valuable research ideas for the fault-tolerant control of intelligent connected vehicle platoons. However, research on preset-time fault-tolerant control of two-dimensional heterogeneous intelligent connected vehicle platoons under actuator failure and external disturbances is still in its early stages both domestically and internationally. Existing literature and reports only study one type of cooperative control method in a single-dimensional intelligent connected vehicle platoon model. Research on preset-time fault-tolerant control technology for two-dimensional heterogeneous intelligent connected vehicle platoons under actuator failure and external disturbances is severely lacking. Research on preset-time fault-tolerant control of heterogeneous intelligent connected vehicle platoons incorporating multidimensional dynamics is an important research area for the future development of intelligent connected vehicles, including their intelligence, connectivity, and autonomy. Therefore, the preset-time fault-tolerant control method for two-dimensional heterogeneous intelligent connected vehicle platoons is a key technical problem that urgently needs to be solved in the development of intelligent connected vehicles. Summary of the Invention

[0005] The technical problem to be solved by this invention is to propose a preset time-tolerant control method for the longitudinal and lateral two-dimensional dynamic model of heterogeneous intelligent connected vehicle platoons under actuator failure and external interference.

[0006] To achieve the above objectives, according to one aspect of a specific embodiment of the present invention, a two-dimensional dynamic model of a heterogeneous intelligent connected vehicle queue under actuator failure and external interference is provided, including a two-dimensional dynamic coupling vehicle spacing error strategy based on failure, a distributed preset time collaborative fault-tolerant control strategy for the heterogeneous intelligent connected vehicle queue, and feasibility conditions and criteria.

[0007] Combining the characteristics of actuator faults and external disturbances, a heterogeneous two-dimensional dynamic model of a heterogeneous intelligent connected vehicle queue is established, consisting of n interconnected intelligent connected vehicle subsystems with heterogeneous dynamic model orders and parameters. Based on the characteristics of this heterogeneous queue dynamic model and the interaction of communication environment and driving status information within the vehicle-mounted self-organizing network, an information flow topology model is formed using graph theory, cyber-physical system theory, and queue stability system theory. A fault-based two-dimensional dynamic coupling vehicle spacing error strategy is constructed based on actuator faults to reduce the impact of faults and disturbances on queue stability. A non-linear dynamic coupling vehicle spacing error model is also constructed. A symmetric constraint domain is established. Based on adaptive theory and fuzzy logic system theory, an adaptive fuzzy logic approximator is constructed to achieve adaptive dynamic approximation and compensation of the composite function terms of unknown nonlinear dynamic information and fault disturbances in the system. Combining preset time stability theory, optimal control theory, and zero-sum dynamic game algorithm theory, a distributed preset time collaborative fault-tolerant control strategy for heterogeneous intelligent connected vehicle queues is formed. Finally, through Lyapunov stability theory, traffic flow theory, and minimum controllability theory, an internal stability criterion is established to obtain the queue stability criterion. The stability, controllability, and observability of the queue are analyzed and synthesized, providing theoretical support for realizing preset time fault-tolerant control of two-dimensional heterogeneous intelligent connected vehicle queues.

[0008] Specifically, the longitudinal and lateral two-dimensional dynamic model of the heterogeneous intelligent connected vehicle platoon under actuator failure and external interference consists of n interconnected intelligent connected vehicle subsystems with heterogeneous dynamic model orders and parameters. The i-th intelligent connected vehicle suffers from actuator failure and external interference. Using actuator failure and external interference information during the platoon's operation, as well as the communication environment interaction, driving status interaction, and vehicle body information between the intelligent connected vehicles, a longitudinal dynamic model of the heterogeneous intelligent connected vehicle platoon under actuator failure and external interference is established. Establish a lateral dynamics model for heterogeneous intelligent connected vehicle platoons. Where i = 0, 1, ..., n represents the i-th intelligent connected vehicle in the heterogeneous intelligent connected vehicle queue; xp1,i (t), x p2,i (t) represent the longitudinal and lateral position information of the intelligent connected vehicle, respectively, x α,i (t) represents the heading angle information of the intelligent connected vehicle, x v,i (t) represents the speed information of the intelligent connected vehicle, f m,i (X i ), m=1,2,3,F 4,i (X i ) represents an unknown nonlinear function related to the driving state, such as the influence of tire friction and aerodynamics on the nonlinear motion characteristics of intelligent connected vehicles; This is a driving state matrix related to driving speed and acceleration; Both are parameter matrices; This is the lateral driving state matrix related to the angular velocity and acceleration of the deflection angle in the velocity direction. 1,i =[0u F1,i (u 1,i [X,t)] is the longitudinal control input matrix, U 2,i =[0u F2,i (u 2,i [X,t)] is the lateral control input matrix, u F1,i (u 1,i (x,t) represents the control input under engine or other actuator failure conditions, u F2,i (u 2,i (X,t) represents the control input under the condition of a failure in actuators such as the steering gear; It represents the external disturbance function related to driving status under the influence of road environment factors such as road slope, humidity, and strong sand.

[0009] Specifically, the fault-based two-dimensional dynamic coupling vehicle spacing error strategy firstly combines the characteristics of the heterogeneous intelligent connected vehicle queue two-dimensional dynamic model, and based on the interaction of the intelligent connected vehicle's communication environment and driving status information in the vehicle-mounted self-organizing network, it utilizes graph theory, cyber-physical fusion system theory, and queue stability system theory to form an information flow topology model; secondly, based on the actuator fault factor and the lead vehicle speed information, it constructs a longitudinal vehicle spacing strategy as follows: Lateral vehicle spacing strategy is Where, μ i ξ i These are the driving safety factor and the maximum deceleration, ρ. i Let H be the actuator failure factor, and H be a positive definite constant, f(x) v,i cos(x α,t ),t),f(x v,i sin(x α,t), t) are the attenuation functions related to longitudinal and lateral driving speeds, respectively; the vehicle spacing errors of the longitudinal and lateral intelligent connected vehicle platoons are... ε ij b i These are elements in the information flow communication topology matrix and elements in the constant matrix, respectively.

[0010] Specifically, the distributed preset time-coordinated fault-tolerant control strategy for heterogeneous intelligent connected vehicle platoons firstly constructs asymmetric constraint domains for longitudinal and lateral vehicle spacing errors to ensure collision avoidance and mobile communication maintenance at high speeds, thus achieving driving safety constraints. Based on adaptive theory and fuzzy logic system theory, an adaptive fuzzy logic approximator is constructed to achieve adaptive dynamic approximation and compensation of the composite function terms of unknown nonlinear dynamic information and fault disturbances in the system, providing the fuzzy logic system expression and the adaptive update law form of the relevant weights. To ensure the stability and scalability of the platoon under fault and disturbance conditions, a quadratic cost function V based on asymmetric constraints is constructed for the longitudinal vehicle spacing error and the lateral speed deflection angle error. N By combining the pre-defined time stability theory, optimal control theory, and zero-sum dynamic game algorithm, a collaborative fault-tolerant control model is formed. In the control layer model, Y C For the control layer input, T is the preset time-stability parameter, u i This is a distributed collaborative fault-tolerant controller for heterogeneous intelligent connected vehicles in the queue.

[0011] Finally, by using Lyapunov stability theory, traffic flow theory, and minimum controllability theory, an internal stability criterion is established, and a queue stability criterion is obtained. The stability, controllability, and observability of the queue are analyzed and synthesized, providing a theoretical model basis for realizing the preset time-tolerant fault control of heterogeneous intelligent connected vehicle queues under fault conditions.

[0012] The beneficial effects of this invention are that it can effectively solve the problem of preset time fault-tolerant control of two-dimensional heterogeneous intelligent connected vehicle queues under actuator failure and external interference, thereby improving the safety and reliability of heterogeneous intelligent connected vehicle queues, enhancing the robustness of heterogeneous intelligent connected vehicle queues, and improving the safety assurance capability of intelligent connected vehicle queues during driving.

[0013] The invention will be further explained below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of a specific embodiment of the present invention;

[0015] Figure 2 This is a two-dimensional dynamic diagram of a heterogeneous intelligent connected vehicle platoon. Detailed Implementation

[0016] The following description, using the preset time fault-tolerant control of a two-dimensional heterogeneous intelligent connected vehicle queue as an example, along with the accompanying drawings, provides a detailed, clear, and complete description of the technical solution of this invention, so as to facilitate a better understanding of this invention by those skilled in the art.

[0017] Example

[0018] Figure 1 This is a schematic diagram illustrating a specific implementation method for the preset time-tolerant fault control of heterogeneous intelligent connected vehicle queues. Figure 2 This is a two-dimensional dynamic diagram of the heterogeneous intelligent connected vehicle platoon in this example. Figure 1 As shown, the specific implementation steps of the preset time-tolerant fault control for the two-dimensional heterogeneous intelligent connected vehicle queue in this example include:

[0019] This example demonstrates a two-dimensional longitudinal and lateral dynamic model of a heterogeneous intelligent connected vehicle platoon under actuator failure and external interference. The platoon consists of n interconnected intelligent connected vehicle subsystems with heterogeneous dynamic model orders and parameters. The i-th intelligent connected vehicle experiences actuator failure and external interference. Generally, a longitudinal dynamic model of the heterogeneous intelligent connected vehicle platoon under actuator failure and external interference is established using information on actuator failure, external interference, and the interaction of communication environments, driving states, and vehicle body information within the platoon. Establish a lateral dynamics model for heterogeneous intelligent connected vehicle platoons. Where i = 0, 1, ..., n represents the i-th intelligent connected vehicle in the heterogeneous intelligent connected vehicle queue; x p1,i (t), x p2,i (t) represent the longitudinal and lateral position information of the intelligent connected vehicle, respectively, x α,i (t) represents the heading angle information of the intelligent connected vehicle, x v,i (t) represents the speed information of the intelligent connected vehicle, f m,i (X i ), m=1,2,3,F 4,i (X i ) represents an unknown nonlinear function related to the driving state, such as the influence of tire friction and aerodynamics on the nonlinear motion characteristics of intelligent connected vehicles; This is a driving state matrix related to driving speed and acceleration; Both are parameter matrices; This is the lateral driving state matrix related to the angular velocity and acceleration of the deflection angle in the velocity direction. 1,i =[0u F1,i (u 1,i [X,t)] is the longitudinal control input matrix, U 2,i =[0uF2,i (u 2,i [X,t)] is the lateral control input matrix, u F1,i (u 1,i (x,t) represents the control input under engine or other actuator failure conditions, u F2,i (u 2,i (X,t) represents the control input under the condition of a failure in actuators such as the steering gear; It represents the external disturbance function related to driving status under the influence of road environment factors such as road slope, humidity, and strong sand.

[0020] In this example, the preset time-tolerant fault control of the two-dimensional heterogeneous intelligent connected vehicle queue is obtained through a fault-based two-dimensional dynamic coupling vehicle spacing error strategy. Figure 2 This is a two-dimensional dynamic diagram of a heterogeneous intelligent connected vehicle platoon. Generally, firstly, combining the characteristics of the two-dimensional dynamic model of the heterogeneous intelligent connected vehicle platoon, and based on the interaction of the vehicle-to-vehicle communication environment and driving status information within the vehicle-mounted self-organizing network, an information flow topology model is formed using graph theory, cyber-physical system theory, and platoon stability system theory; secondly, based on the actuator failure factor and the speed information of the lead vehicle, a longitudinal vehicle spacing strategy is constructed as follows: Lateral vehicle spacing strategy is Where, μ i ξ i These are the driving safety factor and the maximum deceleration, ρ. i Let H be the actuator failure factor, and H be a positive definite constant, f(x) v,i cos(x α,t ),t),f(x v,i sin(x α,t ), t) are the attenuation functions related to longitudinal and lateral driving speeds, respectively; the vehicle spacing errors of the longitudinal and lateral intelligent connected vehicle platoons are... ε ij b i These are elements in the information flow communication topology matrix and elements in the constant matrix, respectively.

[0021] In this example, the distributed, pre-defined time-coordinated fault-tolerant control strategy for a heterogeneous intelligent connected vehicle platoon first constructs asymmetric constraint domains for longitudinal and lateral vehicle spacing errors to ensure collision avoidance and maintain mobile communication at high speeds, thus achieving driving safety constraints. Based on adaptive theory and fuzzy logic system theory, an adaptive fuzzy logic approximator is constructed to achieve adaptive dynamic approximation and compensation of the composite function terms of unknown nonlinear dynamic information and fault disturbances in the system. The fuzzy logic system expression and the adaptive update law form of the relevant weights are given. To ensure the stability and scalability of the platoon under fault and disturbance conditions, a quadratic cost function V based on asymmetric constraints is constructed for the longitudinal vehicle spacing error and the lateral speed deflection angle error. NBy combining the pre-defined time stability theory, optimal control theory, and zero-sum dynamic game algorithm, a collaborative fault-tolerant control model is formed. In the control layer model, Y C For the control layer input, T is the preset time-stability parameter, u i This is a distributed collaborative fault-tolerant controller for heterogeneous intelligent connected vehicles in the queue.

[0022] Finally, this example establishes an internal stability criterion using Lyapunov stability theory, traffic flow theory, and minimum controllability theory, thereby obtaining a queue stability criterion. By analyzing and synthesizing its stability, controllability, and observability, it provides a theoretical model basis for realizing preset time-tolerant fault control of heterogeneous intelligent connected vehicle queues under fault conditions.

Claims

1. A preset time-tolerant fault control method for a two-dimensional heterogeneous intelligent connected vehicle queue, characterized in that, The paper presents a two-dimensional dynamic model of a heterogeneous intelligent connected vehicle platoon under actuator failure and external disturbances, including longitudinal and lateral dynamics; a fault-based two-dimensional dynamic coupling vehicle spacing error strategy; a distributed pre-set time-coordinated fault-tolerant control strategy for the heterogeneous intelligent connected vehicle platoon; and feasibility conditions and criteria. The paper includes the following steps: Step 1: Combining the characteristics of actuator failure and external disturbance functions, establish a two-dimensional longitudinal and lateral dynamic model of a heterogeneous intelligent connected vehicle queue consisting of n interconnected intelligent connected vehicle subsystems with heterogeneous dynamic model orders and parameters; Step 2: Combining the characteristics of the two-dimensional dynamic model of the heterogeneous intelligent connected vehicle queue, and based on the interaction of the intelligent connected vehicle workshop communication environment and driving status information of the vehicle self-organizing network, an information flow topology model is formed using graph theory, cyber-physical fusion system theory and queue stability system theory. Based on actuator faults, a fault-based two-dimensional dynamic coupling vehicle spacing error strategy is constructed to reduce the impact of faults and interference on queue stability. Step 3: Construct the asymmetric constraint domain for longitudinal and lateral vehicle spacing errors; Based on adaptive theory and fuzzy logic system theory, an adaptive fuzzy logic approximator is constructed to realize adaptive dynamic approximation and compensation of the composite function terms of unknown nonlinear dynamic information and fault disturbance in the system; combined with preset time stability theory, optimal control theory and zero-sum dynamic game algorithm theory, a distributed preset time cooperative fault-tolerant control strategy for heterogeneous intelligent connected vehicle queues is formed. Step 4: Finally, by using Lyapunov stability theory, traffic flow theory and minimum controllability theory, an internal stability criterion is established to obtain a queue stability criterion. The stability, controllability and observability of the queue are analyzed and synthesized to provide theoretical support for the preset time-tolerant control of two-dimensional heterogeneous intelligent connected vehicle queues.

2. The preset time-tolerant fault control method for a two-dimensional heterogeneous intelligent connected vehicle queue according to claim 1, characterized in that, The design of a two-dimensional longitudinal and lateral dynamic model for a heterogeneous intelligent connected vehicle platoon under actuator failure and external interference: It consists of n interconnected intelligent connected vehicle subsystems with heterogeneous dynamic model orders and parameters, where the i-th intelligent connected vehicle suffers from actuator failure and external interference. Utilizing actuator failure and external interference information during the platoon's operation, as well as the interaction of the vehicle's communication environment, driving status, and vehicle body information, a longitudinal dynamic model of the heterogeneous intelligent connected vehicle platoon under actuator failure and external interference is established. Establish a lateral dynamics model for heterogeneous intelligent connected vehicle platoons. Where i = 0, 1, ..., n represents the i-th intelligent connected vehicle in the heterogeneous intelligent connected vehicle queue; x p1,i (t), x p2,i (t) represent the longitudinal and lateral position information of the intelligent connected vehicle, respectively, x α,i (t) represents the heading angle information of the intelligent connected vehicle, x v,i (t) represents the speed information of the intelligent connected vehicle, f m,i (X i ), m=1,2,3,F 4,i (X i ) represents an unknown nonlinear function related to the driving state, such as the influence of tire friction and aerodynamics on the nonlinear motion characteristics of intelligent connected vehicles; This is a driving state matrix related to driving speed and acceleration; Both are parameter matrices; This is the lateral driving state matrix related to the angular velocity and acceleration of the deflection angle in the velocity direction. 1,i =[0 u F1,i (u 1,i [X,t)] is the longitudinal control input matrix, U 2,i =[0 u F2,i (u 2,i [X,t)] is the lateral control input matrix, u F1,i (u 1,i (x,t) represents the control input under engine or other actuator failure conditions, u F2,i (u 2,i (X,t) represents the control input under the condition of a failure in actuators such as the steering gear; It represents the external disturbance function related to driving status under the influence of road environment factors such as road slope, humidity, and strong sand.

3. The preset time fault-tolerant control method for a two-dimensional heterogeneous intelligent connected vehicle queue according to claim 1, characterized in that, The fault-based two-dimensional dynamic coupling vehicle spacing error strategy design is as follows: First, combining the characteristics of the two-dimensional dynamic model of heterogeneous intelligent connected vehicle queues, and based on the interaction of the intelligent connected vehicle workshop communication environment and driving status information in the vehicle self-organizing network, an information flow topology model is formed using graph theory, cyber-physical fusion system theory, and queue stability system theory; Second, based on the actuator fault factor and the speed information of the lead vehicle, a longitudinal vehicle spacing strategy is constructed as follows: Lateral vehicle spacing strategy is Where, μ i ξ i These are the driving safety factor and the maximum deceleration, ρ. i Let H be the actuator failure factor, and H be a positive definite constant, f(x) v,i cos(x α,t ),t),f(x v,i sin(x α,t ), t) are the attenuation functions related to longitudinal and lateral driving speeds, respectively; the vehicle spacing errors of the longitudinal and lateral intelligent connected vehicle platoons are... ε ij b i These are elements in the information flow communication topology matrix and elements in the constant matrix, respectively.

4. The preset time fault-tolerant control method for a two-dimensional heterogeneous intelligent connected vehicle queue according to claim 1, characterized in that, The design of the distributed preset time-coordinated fault-tolerant control strategy for the heterogeneous intelligent connected vehicle platoon is as follows: First, asymmetric constraint domains are constructed for longitudinal and lateral vehicle spacing errors to ensure collision avoidance and mobile communication maintenance at high speeds, thereby achieving driving safety constraints. Based on adaptive theory and fuzzy logic system theory, an adaptive fuzzy logic approximator is constructed to achieve adaptive dynamic approximation and compensation of the composite function terms of unknown nonlinear dynamic information and fault disturbances in the system, and the fuzzy logic system expression and the adaptive update law form of the relevant weights are given. To ensure the stability and scalability of the platoon under fault and disturbance conditions, a quadratic cost function V based on asymmetric constraints is constructed for the longitudinal vehicle spacing error and the lateral speed deflection angle error. N By combining the pre-defined time stability theory, optimal control theory, and zero-sum dynamic game algorithm, a collaborative fault-tolerant control model is formed. In the control layer model, Y C For the control layer input, T is the preset time-stability parameter, u i This is a distributed collaborative fault-tolerant controller for heterogeneous intelligent connected vehicles in the queue.

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