An intelligent networked vehicle formation control method and system for dealing with communication abnormalities

Abstract

The present application relates to the technical field of intelligent control of automobiles, in particular to an intelligent networked automobile formation control method and system for coping with communication abnormalities, in which, by acquiring the self-vehicle operating state of the formation vehicle, the relative motion state obtained by the formation vehicle perceiving the target vehicle, and the received inter-vehicle state information, the inter-vehicle state information is subjected to receiving timing checking and state continuity checking, a state availability identifier corresponding to the inter-vehicle state information is generated, and information processing and reference sequencing are respectively performed based on the state availability identifier; the control reference object and the reference priority of the formation vehicle are determined while generating the control input, and the reorganized information dependency relationship is formed; and then the control instruction of the formation vehicle is generated according to the control input, the control reference object, the reference priority, and the reorganized information dependency relationship, thereby helping to improve the continuous connection capability and following stability of the control process under abnormal communication conditions.

Description

Technical Field

[0001] This invention relates to the field of automotive intelligent control technology, specifically to an intelligent connected vehicle platooning control method and system for dealing with communication anomalies. Background Technology

[0002] Intelligent connected vehicle platooning control is a crucial technology for achieving multi-vehicle cooperative driving. It typically relies on the exchange of state information between platooning vehicles and the vehicle's own perception data to dynamically adjust its operational status, thereby maintaining the longitudinal order and stable following of the platoon. During actual platooning operations, inter-vehicle communication is susceptible to factors such as road conditions, transmission link fluctuations, and local interference. This can cause the received reference vehicle state information to exhibit timeliness changes, continuous changes, or local anomalies across different control cycles. Furthermore, the information states of different reference vehicles within the platoon are not always consistent, and the reference value and conditions of action of information from different sources in control also vary accordingly.

[0003] In the aforementioned scenarios, formation control involves not only determining whether received information can continue to be used for control, but also maintaining a reasonable organization of control basis and a stable connection of the control process after changes in the state of reference information. Without a processing mechanism adapted to changes in information state, it is difficult to achieve effective coordination between the information basis and reference relationships used in the control process, thereby affecting the consistency of control target updates and longitudinal control outputs. Therefore, to address the control organization problem caused by changes in reference information state under abnormal communication conditions, there is an urgent need to propose a formation control method system that can take into account information processing, reference relationship adjustment, and the seamless connection of control generation. Summary of the Invention

[0004] The purpose of this invention is to provide a method and system for intelligent connected vehicle platooning control to address communication anomalies, thereby solving the problems mentioned in the background section. Specifically, the technical problem includes how to coordinate the processing of abnormal information and the adjustment of control reference relationships when the inter-vehicle state information of different reference vehicles within the platoon becomes abnormal and its availability varies during platooning operations. This aims to solve the problem of decreased platooning vehicle control continuity and affected car-following stability due to a lack of coordination between control input construction and control reference determination.

[0005] To achieve the above objectives, one objective of this invention is a method for intelligent connected vehicle platooning control in response to communication anomalies, comprising the following method steps:

[0006] S1. Obtain the vehicle's own operating status, the relative motion status perceived by the vehicles in the formation to the target vehicle, and the received inter-vehicle status information; wherein:

[0007] The vehicles in a convoy include the vehicle itself, the leading vehicle, and the navigator vehicle; the target vehicle is the leading vehicle.

[0008] Vehicle status information includes the status information of the preceding vehicle and the status information of the lead vehicle;

[0009] The vehicle's operating status includes its speed and position.

[0010] Relative motion includes the relative distance and relative speed between the vehicle and the vehicle in front;

[0011] The preceding vehicle's inter-vehicle status information includes the preceding vehicle's position, speed, and timestamp.

[0012] The inter-vehicle status information of the lead vehicle includes the lead vehicle's position, speed, and timestamp.

[0013] The historical state evolution results include the historical position projection results of the preceding vehicle, the historical speed projection results of the preceding vehicle, the historical position projection results of the lead vehicle, and the historical speed projection results of the lead vehicle.

[0014] Step S1 acquires the vehicle's own operating status, the relative motion status perceived by the vehicle in the formation to the target vehicle, and the received inter-vehicle status information, and simultaneously introduces historical state evolution results to provide a unified data foundation for subsequent control processes. By incorporating the relevant status information of the vehicle, the preceding vehicle, and the lead vehicle into the same processing framework, subsequent steps can have the necessary information conditions to perform state determination, abnormal information processing, and control reference relationship adjustment when faced with anomalies in the inter-vehicle status information of different reference vehicles within the formation and differences in availability. This helps to alleviate the problem of insufficient connection between control input construction and control reference determination.

[0015] S2. Perform timing verification and status continuity verification on the inter-vehicle status information, and generate a status availability identifier corresponding to the inter-vehicle status information, specifically including:

[0016] Calculate the reception time difference corresponding to the inter-vehicle status information of the preceding vehicle and the inter-vehicle status information of the lead vehicle, respectively.

[0017] The receiving time difference corresponding to the inter-vehicle status information of the preceding vehicle is compared with the receiving timing threshold of the preceding vehicle to complete the receiving timing verification of the preceding vehicle.

[0018] The receiving time difference corresponding to the inter-vehicle status information of the lead vehicle is compared with the receiving timing threshold of the lead vehicle to complete the receiving timing verification of the lead vehicle.

[0019] The preceding vehicle's position and speed received in the current control cycle are compared with the preceding vehicle's historical position and speed projection results to obtain the preceding vehicle's state deviation.

[0020] The current position and speed of the navigator are compared with the historical position and speed projection results of the navigator to obtain the navigator state deviation.

[0021] Based on the preceding vehicle's state deviation, the preceding vehicle's position continuity threshold, and the preceding vehicle's speed continuity threshold, the preceding vehicle's continuity evaluation quantity is obtained, and the preceding vehicle's state continuity is verified based on the preceding vehicle's continuity evaluation quantity.

[0022] Based on the navigator's state deviation, position continuity threshold, and speed continuity threshold, the navigator continuity evaluation quantity is obtained, and the navigator's state continuity is verified based on the navigator continuity evaluation quantity.

[0023] Based on the preceding vehicle's reception timing verification results and the preceding vehicle's status continuity verification results, a preceding vehicle status availability identifier is generated.

[0024] Based on the timing verification results of the navigator vehicle's reception and the continuity verification results of the navigator vehicle's status, a navigator vehicle status availability identifier is generated.

[0025] The availability indicators for the leading vehicle and the navigating vehicle include a first indicator and a second indicator;

[0026] When the timing verification of the current vehicle's reception passes and the continuity verification of the preceding vehicle's status passes, the availability flag of the preceding vehicle's status is set to the first flag; otherwise, the availability flag of the preceding vehicle's status is set to the second flag.

[0027] When the timing verification of the navigator vehicle's reception passes and the continuity verification of the navigator vehicle's status passes, the navigator vehicle's status availability flag is set to the first flag; otherwise, the navigator vehicle's status availability flag is set to the second flag.

[0028] The first identifier is used to indicate that the corresponding vehicle status information can be directly used as a control reference, and the second identifier is used to indicate that the corresponding vehicle status information cannot be directly used as a control reference, and to perform alternative processing on the corresponding vehicle status information.

[0029] Step S2 generates a status availability identifier corresponding to the inter-vehicle status information by verifying the reception timing and status continuity of the inter-vehicle status information, so that the referenceable status of the preceding vehicle's inter-vehicle status information and the navigator vehicle's inter-vehicle status information can be distinguished within the current control cycle. This step incorporates the reception time difference, status deviation, and continuity evaluation quantity into the judgment process, which helps to identify the status differences of different reference vehicle information in terms of timeliness and continuity, and provides a consistent basis for subsequent abnormal information processing and control reference relationship adjustment in the form of status availability identifiers, thereby establishing a judgment basis for solving the problem of lack of coordination between control input construction and control reference determination.

[0030] S3. Based on the status availability identifier, perform corresponding information processing on the inter-vehicle status information, specifically including:

[0031] Based on the availability identifier of the preceding vehicle, the vehicle-to-vehicle status information of the preceding vehicle is either retained or replaced to obtain the processed preceding vehicle status information.

[0032] Based on the availability identifier of the navigator vehicle status, perform retention or replacement processing on the inter-vehicle status information of the navigator vehicle to obtain the processed navigator vehicle status information.

[0033] When the availability flag of the current vehicle is the first flag, the inter-vehicle status information of the preceding vehicle is retained.

[0034] When the current vehicle status availability identifier is the second identifier, the vehicle-to-vehicle status information of the preceding vehicle is replaced.

[0035] When the availability status identifier of the lead vehicle is the first identifier, the inter-vehicle status information of the lead vehicle is retained.

[0036] When the availability identifier of the lead vehicle is the second identifier, the inter-vehicle status information of the lead vehicle is replaced.

[0037] The processed inter-vehicle status information is combined with the vehicle's operating status, relative motion status, and historical status evolution results to generate control inputs, specifically including:

[0038] The replacement processing of the preceding vehicle's inter-vehicle status information includes the calculation of the initial value of the preceding vehicle's replacement position, the calculation of the initial value of the preceding vehicle's replacement speed, the consistency correction of the preceding vehicle's replacement speed, and the consistency correction of the preceding vehicle's replacement position.

[0039] The preceding vehicle replacement speed consistency correction is based on the initial value of the preceding vehicle replacement speed, the historical speed extrapolation results of the preceding vehicle, the speed fusion weight of the preceding vehicle, and the speed deviation threshold of the preceding vehicle to obtain the processed preceding vehicle speed.

[0040] The preceding vehicle replacement position consistency correction is based on the initial value of the preceding vehicle replacement position, the historical position extrapolation result of the preceding vehicle, the preceding vehicle position fusion weight, and the preceding vehicle position deviation threshold to obtain the processed preceding vehicle position;

[0041] When the availability identifier of the navigator vehicle is the second identifier, the processed navigator vehicle status information is obtained based on the historical status evolution results of the navigator vehicle.

[0042] The processed preceding vehicle status information, the processed navigator vehicle status information, the vehicle's operating status, relative motion status, and historical status evolution results are combined to obtain the control input.

[0043] Step S3 performs corresponding information processing on the inter-vehicle state information based on the state availability identifier, and combines the processed inter-vehicle state information with the vehicle's operating state, relative motion state, and historical state evolution results to generate control input. By performing retention processing on inter-vehicle state information that can be directly used as control reference and substitution processing on inter-vehicle state information that cannot be directly used as control reference, this step can continuously organize the state quantities required for control when the information availability of different reference vehicles changes. Furthermore, by incorporating the processed preceding vehicle state information, the processed lead vehicle state information, the vehicle's operating state, relative motion state, and historical state evolution results into the control input, the control input construction can better adapt to information state changes under abnormal communication conditions, thereby improving the continuity of subsequent control reference determination and control command generation.

[0044] S4. Based on the status availability indicator, sort the reference information of each vehicle in the formation according to the reference order, specifically including:

[0045] The vehicles participating in the reference ranking include the lead vehicle and the navigator vehicle;

[0046] The processed status information of the preceding vehicle is used as the reference information for the preceding vehicle, and the processed status information of the navigating vehicle is used as the reference information for the navigating vehicle.

[0047] When the availability indicator of the current vehicle is the first indicator, the reference priority of the reference information of the preceding vehicle is higher than that of the reference information of the navigating vehicle.

[0048] When the availability indicator of the current vehicle is the second indicator and the availability indicator of the navigating vehicle is the first indicator, the reference priority of the navigating vehicle's reference information is higher than that of the preceding vehicle's reference information.

[0049] When both the current vehicle's availability indicator and the navigating vehicle's availability indicator are set to the second indicator, the reference priority of the current vehicle's reference information is higher than that of the navigating vehicle's reference information.

[0050] Based on the reference sorting results, the control reference objects and reference priorities of the platooned vehicles are determined, and the reorganized information dependencies are generated; the process of determining the control reference objects and reference priorities specifically includes:

[0051] The reference objects and reference priorities are determined based on the reference order;

[0052] When the reference priority of the preceding vehicle's reference information is higher than that of the navigating vehicle's reference information, the preceding vehicle is identified as the control reference object, and the navigating vehicle is identified as the secondary reference object;

[0053] When the reference priority of the lead vehicle's reference information is higher than that of the preceding vehicle's reference information, the lead vehicle is identified as the control reference object, and the preceding vehicle is identified as the secondary reference object.

[0054] When both the preceding vehicle and the navigating vehicle have the second availability indicator, the preceding vehicle is identified as the control reference object, and the navigating vehicle is identified as the secondary reference object.

[0055] The process of generating information dependencies specifically includes:

[0056] When the preceding vehicle is identified as the control reference object, the current vehicle forms a primary dependency relationship with the preceding vehicle and a secondary dependency relationship with the navigator vehicle. The primary dependency relationship indicates that the current vehicle prioritizes the reference information of the preceding vehicle to generate control commands, while the secondary dependency relationship indicates that the current vehicle secondaryly depends on the reference information of the navigator vehicle to generate control commands.

[0057] When the lead vehicle is identified as the control reference object, the vehicle forms a primary dependency relationship with the lead vehicle and a secondary dependency relationship with the preceding vehicle. The primary dependency relationship indicates that the vehicle primarily relies on the reference information of the lead vehicle to generate control commands, while the secondary dependency relationship indicates that the vehicle secondarily relies on the reference information of the preceding vehicle to generate control commands.

[0058] Step S4 sorts the reference information of each vehicle in the formation based on the status availability identifier, determines the control reference object and reference priority of the vehicles in the formation according to the reference sorting result, and generates the reorganized information dependency relationship. This step establishes a correspondence between the status availability identifier of the preceding vehicle and the status availability identifier of the lead vehicle and the order of action of the reference information of the preceding vehicle and the lead vehicle, so that the determination of the control reference object can be adjusted according to the changes in the information status of different reference vehicles. At the same time, by forming primary dependency relationship and secondary dependency relationship, the reference organization method in the control process can be coordinated with the aforementioned information processing results, thereby improving the coordination between the determination of control reference and the construction of control input when the inter-vehicle status information of different reference vehicles in the formation is abnormal and the availability varies.

[0059] S5. Based on the control input, control reference object, reference priority, and reorganized information dependencies, generate control commands for the platooned vehicles. The control command generation process specifically includes:

[0060] The target racing state is determined based on control input, control reference object, reference priority, and information dependency.

[0061] When the vehicle in front is identified as the control reference object, the target distance is determined based on the reference information of the vehicle in front corresponding to the main dependency relationship, and the target speed is determined based on the speed of the vehicle in front after processing.

[0062] When the lead vehicle is identified as the control reference object, the target distance is determined based on the lead vehicle reference information corresponding to the primary dependency relationship, according to the target sequence distance between the vehicle and the lead vehicle, and the target speed is determined based on the processed lead vehicle speed.

[0063] Control deviation is generated based on the target following state and the vehicle's operating state;

[0064] When the preceding vehicle is identified as the control reference object, longitudinal control commands are generated based on the preceding vehicle reference information corresponding to the primary dependency relationship, according to the position and speed deviations between the current vehicle and the preceding vehicle. The navigator reference information corresponding to the secondary dependency relationship is used as auxiliary reference information to participate in the generation of longitudinal control commands.

[0065] When the lead vehicle is identified as the control reference object, based on the lead vehicle reference information corresponding to the primary dependency relationship, longitudinal control commands are generated according to the queuing position deviation and speed deviation of the vehicle relative to the lead vehicle, and the preceding vehicle reference information corresponding to the secondary dependency relationship is used as auxiliary reference information to participate in the generation of longitudinal control commands.

[0066] When both the preceding vehicle's status availability identifier and the navigator's status availability identifier are set to the second identifier, the control reference object is determined to be the preceding vehicle. The current vehicle forms a primary dependency relationship with the preceding vehicle and a secondary dependency relationship with the navigator. The longitudinal control command is generated based on the preceding vehicle's status information after substitution processing, the current vehicle's position, speed, relative distance, relative speed, and the historical status evolution results of the preceding vehicle.

[0067] The control command is a longitudinal acceleration command;

[0068] The longitudinal acceleration command is generated based on the control deviation and the control coefficient;

[0069] After generating the longitudinal acceleration command, a saturation limit based on the upper and lower limits of longitudinal acceleration is applied to the longitudinal acceleration command.

[0070] Step S5 generates control commands for the platooned vehicles based on the control input, control reference object, reference priority, and reorganized information dependencies. This step combines the control input with the control reference object, reference priority, and information dependencies during the determination of target following status, generation of control deviation, and generation of longitudinal control commands. This allows the results of the aforementioned abnormal information processing and the adjustment results of the control reference relationships to work together on the control output. By organizing the reference information participation methods corresponding to target spacing, target speed, and primary and secondary dependencies according to different control reference objects, this step helps maintain the continuity of the control process when the information availability status of different reference vehicles changes, and to a certain extent improves the following stability of the platooned vehicles.

[0071] The second objective of this invention is to provide a system for intelligent connected vehicle platooning control methods to cope with communication anomalies, comprising a state information acquisition module, a state availability identifier generation module, a control input generation module, a reference reconstruction module, and a control command generation module, wherein:

[0072] The status information acquisition module acquires the vehicle's own operating status, the relative motion status perceived by the vehicles in the formation to the target vehicle, and the received inter-vehicle status information.

[0073] The status availability identifier generation module performs reception timing verification and status continuity verification on the inter-vehicle status information, and generates a status availability identifier corresponding to the inter-vehicle status information.

[0074] The control input generation module performs corresponding information processing on the inter-vehicle status information based on the status availability identifier, and combines the processed inter-vehicle status information with the vehicle's operating status, relative motion status and historical status evolution results to generate control input;

[0075] The reference reconstruction module sorts the reference information of each vehicle in the formation according to the status availability identifier, determines the control reference object and reference priority of the vehicles in the formation based on the reference sorting result, and generates the reconstructed information dependency relationship.

[0076] The control command generation module generates control commands for the platooned vehicles based on the control input, control reference object, reference priority, and recombined information dependencies.

[0077] Compared with the prior art, the beneficial effects of the present invention are:

[0078] This invention addresses the situation where the inter-vehicle status information of different reference vehicles within a platoon becomes abnormal and its availability varies during intelligent connected vehicle platooning. By verifying the reception timing and state continuity of the inter-vehicle status information, a corresponding status availability identifier is generated. Based on this identifier, abnormal information processing, control input construction, reference sorting, control reference object determination, reference priority adjustment, and information dependency relationship reorganization are carried out. This enables abnormal information processing and control reference relationship adjustment to form a collaborative organizational relationship, thereby improving the coordination between control input construction and control reference determination, enhancing the continuous connection capability of the platooning vehicle control process, and playing a positive role in car-following stability and control adaptability under communication anomaly scenarios. Attached Figure Description

[0079] Figure 1 This is a schematic diagram of the core process of the overall method steps of the present invention;

[0080] Figure 2 This is a schematic diagram of the core process for generating status availability identifiers in this invention;

[0081] Figure 3 This is a schematic diagram of the core process for generating control inputs in this invention;

[0082] Figure 4 This is a schematic diagram of the core process for generating information dependencies in this invention;

[0083] Figure 5 This is a schematic diagram of the overall module flow of the present invention.

[0084] In the diagram: 100, Status Information Acquisition Module; 200, Status Availability Identifier Generation Module; 300, Control Input Generation Module; 400, Reference Reconstruction Module; 500, Control Command Generation Module. Detailed Implementation

[0085] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0086] Next, one of the objectives of this embodiment is to provide a method for intelligent connected vehicle platoon control to cope with communication anomalies, applied to intelligent connected vehicle platoon driving scenarios; wherein the vehicles in the platoon are equipped with a communication unit and an environmental perception unit; wherein the communication unit is used to receive inter-vehicle status information sent by reference vehicles in the platoon, and the environmental perception unit is used to obtain the relative motion state between the vehicle and the target vehicle; by performing status availability determination, anomaly information replacement processing, reference sorting, and control input reconstruction on the inter-vehicle status information, continuous control and stable following of the platoon vehicles can be maintained under communication anomaly conditions.

[0087] Please see Figure 1 This embodiment describes the execution flow of a method for intelligent connected vehicle platooning control to cope with communication anomalies, including the following method steps:

[0088] S1. Obtain the vehicle's own operating status, the relative motion status perceived by the vehicles in the formation to the target vehicle, and the received inter-vehicle status information.

[0089] S2. Perform reception timing verification and status continuity verification on the inter-vehicle status information, and generate a status availability identifier corresponding to the inter-vehicle status information;

[0090] S3. Based on the status availability identifier, perform corresponding information processing on the inter-vehicle status information, and combine the processed inter-vehicle status information with the vehicle's operating status, relative motion status and historical status evolution results to generate control input;

[0091] S4. Based on the status availability identifier, sort the reference information of each vehicle in the formation, determine the control reference object and reference priority of the vehicles in the formation according to the reference sorting result, and generate the reorganized information dependency relationship.

[0092] S5. Generate control commands for platooned vehicles based on control inputs, control reference objects, reference priorities, and recombined information dependencies.

[0093] Specifically, the steps include the following:

[0094] S1. Obtain the vehicle's own operating status, the relative motion status perceived by the vehicles in the formation to the target vehicle, and the received inter-vehicle status information, specifically including:

[0095] The vehicles in a convoy include the vehicle itself, the vehicle in front, and the lead vehicle, with the vehicle in front of the vehicle itself designated as the target vehicle.

[0096] Within the current control cycle, the vehicle's operating status, relative motion status, preceding vehicle's inter-vehicle status information, and navigator vehicle's inter-vehicle status information are first acquired. Simultaneously, the historical state evolution results of the preceding vehicle and the navigator vehicle are read, providing foundational data for subsequent state verification, information processing, reference sequencing, and control command generation. The vehicle's operating status includes its speed and position; relative motion status includes the relative distance and speed between the vehicle and the preceding vehicle; inter-vehicle status information includes the preceding vehicle's inter-vehicle status information and the navigator vehicle's inter-vehicle status information. The preceding vehicle's inter-vehicle status information includes the preceding vehicle's position, speed, and timestamp; the navigator vehicle's inter-vehicle status information includes the navigator vehicle's position, speed, and timestamp; the preceding vehicle's historical state evolution results include the preceding vehicle's historical position projection results and historical speed projection results; and the navigator vehicle's historical state evolution results include the navigator vehicle's historical position projection results and historical speed projection results.

[0097] Let the position of this car be... The speed of this vehicle is Let the relative distance between this vehicle and the vehicle in front be . The relative speed between this vehicle and the vehicle in front is Let the receiving position of the preceding vehicle be... The receiving speed of the preceding vehicle is The timestamp of the previous vehicle is Let the receiving position of the navigator vehicle be... The navigator vehicle's receiving speed is The timestamp of the lead car is Assume the historical position of the preceding vehicle is as follows: The historical speed projection results of the preceding vehicle are as follows: Assume the historical position projection result of the navigator vehicle is... The historical speed projection result of the navigator is: Let the current control time be... The control cycle is .

[0098] In this embodiment, the relative distance is defined by subtracting the position of the vehicle in front from the position of the vehicle itself, and the relative speed is defined by subtracting the speed of the vehicle in front from the speed of the vehicle itself. The formulas are as follows:

[0099] and ,in, and These represent the actual position and actual speed of the vehicle in front at the current moment, respectively. The above definitions are used to characterize the relative motion relationship between the vehicle and the vehicle in front.

[0100] Furthermore, the position of this vehicle Speed ​​of this vehicle Relative distance Relative velocity Front vehicle receiving position Front vehicle receiving speed Previous vehicle timestamp Navigation vehicle receiving location Navigation vehicle receiving speed , Navigator vehicle timestamp Historical position projection results of the preceding vehicle Historical speed projection results of previous vehicles Historical position projection results of the navigator vehicle Historical speed projection results of the pilot vehicle Write the data to the data buffer corresponding to the current control cycle; after processing in step S1, complete the unified preparation of the data required for subsequent processes, and send the acquired data to step S2 for status availability verification.

[0101] Please see Figure 2 S2. Perform timing verification and status continuity verification on the inter-vehicle status information, and generate a status availability identifier corresponding to the inter-vehicle status information, specifically including:

[0102] After data acquisition is completed in step S1, the data cached in the current control cycle is read, and the reception timing check and status continuity check are performed on the inter-vehicle status information of the preceding vehicle and the inter-vehicle status information of the lead vehicle, respectively, to identify whether the currently received information can be directly used as a control reference. After the check is completed, the status availability identifier of the preceding vehicle and the status availability identifier of the lead vehicle are generated as the basis for information processing in the subsequent step S3 and reference sorting in step S4.

[0103] Specifically, the receiving time difference corresponding to the inter-vehicle status information of the preceding vehicle is calculated separately. The time difference between receiving the inter-vehicle status information of the lead vehicle and the vehicle status information of the lead vehicle The formula is expressed as follows:

[0104] and .

[0105] Preset the timing threshold for receiving the preceding vehicle and the timing threshold of the pilot vehicle's reception When satisfied When the timing check of the preceding vehicle's reception is passed, it is determined that the timing check is successful; when the conditions are met... When the timing check of the preceding vehicle fails, it is determined that the timing check has failed; when the conditions are met... When the timing verification of the navigator vehicle's reception is passed, it is determined that the timing verification is successful; when the conditions are met... If the timing verification of the lead vehicle's reception fails, it is determined that the timing verification of the lead vehicle's reception has failed; in this embodiment, the timing threshold of the lead vehicle's reception is... Pick The timing threshold for the navigator vehicle's receiver Pick .

[0106] After completing the timing verification, the position of the preceding vehicle received in the current control cycle is further compared with the historical position projection result of the preceding vehicle, and the speed of the preceding vehicle received in the current control cycle is compared with the historical speed projection result of the preceding vehicle to obtain the preceding vehicle state deviation; at the same time, the position of the navigator received in the current control cycle is compared with the historical position projection result of the navigator, and the speed of the navigator received in the current control cycle is compared with the historical speed projection result of the navigator to obtain the navigator state deviation.

[0107] Front vehicle position deviation Speed ​​deviation of the vehicle in front Navigation vehicle position deviation Speed ​​deviation from the lead car They are respectively:

[0108] , , as well as ;

[0109] Furthermore, the continuity evaluation quantity of the preceding vehicle is calculated separately. And the continuous evaluation quantity of the lead vehicle ,in:

[0110] and ,in This indicates the continuity evaluation quantity of the preceding vehicle. This indicates the continuity evaluation quantity of the lead vehicle. The threshold for the continuity of the preceding vehicle's position. The threshold for the continuity of the preceding vehicle's speed. The threshold for the continuity of the lead vehicle's position. The threshold for the speed continuity of the lead vehicle; where:

[0111] When satisfied When the continuity check of the preceding vehicle's status is passed, it is determined that the status check is successful; when the condition is met... When the continuity check of the preceding vehicle's status fails, it is determined that the check has failed; when the condition is met... When the continuity check of the navigator vehicle's status is passed, it is determined that the status check is successful; when the conditions are met... If the continuity check of the lead vehicle's status fails, it is determined that the continuity check of the lead vehicle's position has failed; in this embodiment, the threshold for the continuity of the lead vehicle's position is... Pick Forward vehicle speed continuity threshold Pick Continuity threshold of the navigator vehicle's position Pick Pilot vehicle speed continuity threshold Pick .

[0112] After completing the reception timing verification and status continuity verification, a leading vehicle status availability identifier and a navigator vehicle status availability identifier are generated respectively. Both the leading vehicle status availability identifier and the navigator vehicle status availability identifier include a first identifier and a second identifier, specifically including:

[0113] When the timing verification of the current vehicle's reception passes and the continuity verification of the preceding vehicle's status passes, the availability flag of the preceding vehicle's status is recorded as the first flag; otherwise, the availability flag of the preceding vehicle's status is recorded as the second flag.

[0114] When the timing verification of the navigator vehicle's reception passes and the continuity verification of the navigator vehicle's status passes, the navigator vehicle's status availability identifier is recorded as the first identifier; otherwise, the navigator vehicle's status availability identifier is recorded as the second identifier.

[0115] After processing in step S2, the availability indicators of the leading vehicle and the navigating vehicle are obtained and sent to steps S3 and S4.

[0116] Please see Figure 3 S3. Based on the status availability identifier, perform corresponding information processing on the inter-vehicle status information, and combine the processed inter-vehicle status information with the vehicle's operating status, relative motion status, and historical status evolution results to generate control inputs, specifically including:

[0117] After obtaining the status availability identifier in step S2, the inter-vehicle status information of the preceding vehicle and the inter-vehicle status information of the lead vehicle are processed according to the status availability identifier of the preceding vehicle and the status availability identifier of the lead vehicle, respectively, to form reference status information that can be used for control calculation in the current control cycle. After the information processing is completed, the processed inter-vehicle status information is combined with the vehicle's operating status, relative motion status and historical status evolution results to generate control input, and the control input is sent to step S5.

[0118] When the availability flag of the preceding vehicle is the first flag, the vehicle-to-vehicle status information of the preceding vehicle is preserved to obtain the processed preceding vehicle status information; at this time, the processed preceding vehicle position... and the speed of the vehicle ahead after processing They are respectively:

[0119] and .

[0120] When the current vehicle's availability flag is the second flag, substitution processing is performed on the preceding vehicle's inter-vehicle status information. This substitution processing includes initial calculation of the preceding vehicle's substitution position, initial calculation of the preceding vehicle's substitution speed, consistency correction of the preceding vehicle's substitution speed, and consistency correction of the preceding vehicle's substitution position. Specifically, it includes:

[0121] First, calculate the initial value of the replacement position of the preceding vehicle based on the position of this vehicle and the relative distance. Calculate the initial value of the replacement speed of the preceding vehicle based on the speed of this vehicle and the relative speed. They are respectively:

[0122] and ;

[0123] Subsequently, consistency correction of the preceding vehicle's replacement speed is performed on the initial value of the preceding vehicle's replacement speed; let the preceding vehicle speed fusion weight be... The threshold for the speed deviation of the vehicle in front is Then the initial value of the speed of the preceding vehicle is replaced. Based on the historical speed of the previous vehicle By performing weighted fusion, the intermediate amount of the preceding vehicle's corrected speed is obtained. ,Right now ;

[0124] Calculate the speed correction deviation of the vehicle in front. ,Right now ,in:

[0125] When satisfied At that time, the intermediate amount of the correction speed of the preceding vehicle is limited to: ;

[0126] When satisfied At that time, the intermediate amount of the correction speed of the preceding vehicle is limited to: ;

[0127] When satisfied At the same time, the aforementioned weighted fusion results remain unchanged;

[0128] After the aforementioned correction for the consistency of the preceding vehicle's speed, the processed speed of the preceding vehicle is: Subsequently, consistency correction of the preceding vehicle's replacement position is performed on the initial value of the preceding vehicle's replacement position; let the preceding vehicle position fusion weight be... The threshold for the position deviation of the preceding vehicle is Then the initial value of the replacement position of the previous vehicle. Results of extrapolation from the historical position of the preceding vehicle By performing weighted fusion, the intermediate value of the preceding vehicle's correction position is obtained. ,Right now ;

[0129] Calculate the position correction deviation of the vehicle in front. ,Right now ,in:

[0130] When satisfied At that time, the intermediate amount of the correction position of the preceding vehicle is limited to:

[0131] When satisfied At that time, the intermediate amount of the correction position of the preceding vehicle is limited to:

[0132] When satisfied At the same time, the aforementioned weighted fusion result remains unchanged.

[0133] After the above-mentioned correction for consistency of the preceding vehicle's replacement position, the processed position of the preceding vehicle is: .

[0134] In this embodiment, the preceding vehicle replacement speed consistency correction is achieved by weighted fusion of the preceding vehicle's current speed and historical speed projections, combined with a deviation threshold limitation. Similarly, the preceding vehicle replacement position consistency correction is achieved by weighted fusion of the preceding vehicle's current position and historical position projections, combined with a deviation threshold limitation. The preceding vehicle speed fusion weight... Take 0.7 as the weight for the preceding vehicle's position fusion. Set the threshold value to 0.7 for the speed deviation of the vehicle in front. Pick Forward vehicle position deviation threshold Pick .

[0135] When the availability flag of the lead vehicle is the first flag, the inter-vehicle status information of the lead vehicle is preserved to obtain the processed lead vehicle status information; at this time, the position of the processed lead vehicle is... and the speed of the pilot vehicle after processing They are respectively:

[0136] and .

[0137] When the availability identifier of the lead vehicle is the second identifier, a substitution process is performed on the inter-vehicle status information of the lead vehicle. The substitution process for the inter-vehicle status information of the lead vehicle includes determining the processed position of the lead vehicle based on the historical status evolution results of the lead vehicle. and the speed of the pilot vehicle after processing ,Right now and .

[0138] After processing the status information of the preceding and lead vehicles, the position of this vehicle will be determined. Speed ​​of this vehicle Relative distance Relative velocity The position of the vehicle in front after processing Speed ​​of the vehicle ahead after processing Position of the navigator after processing Speed ​​of the pilot vehicle after processing Historical position projection results of the preceding vehicle Historical speed projection results of previous vehicles Historical position projection results of the navigator vehicle Historical speed projection results of the pilot vehicle Combining as control input ,Right now .

[0139] After processing in step S3, control input is generated. Then, it is sent to step S5.

[0140] Please see Figure 4 S4. Based on the status availability identifier, the reference information of each vehicle in the formation is sorted. The control reference objects and reference priorities of the vehicles in the formation are determined based on the reference sorting results, and the reorganized information dependencies are generated, specifically including:

[0141] After obtaining the status availability identifier in step S2, in addition to processing the inter-vehicle status information in step S3, the reference information of each vehicle in the formation is also sorted based on the status availability identifiers of the preceding vehicle and the lead vehicle to determine which reference vehicle should be used as the control reference object in the current control cycle, and a reorganized information dependency relationship is generated accordingly. The reference sorting result and the control input generated in step S3 are sent to step S5; the vehicles participating in the reference sorting include the preceding vehicle and the lead vehicle.

[0142] In this embodiment, the preceding vehicle reference information corresponds to the processed preceding vehicle status information, and the navigator vehicle reference information corresponds to the processed navigator vehicle status information. The preceding vehicle reference information includes the processed preceding vehicle position. and the speed of the vehicle ahead after processing The navigator reference information includes the processed navigator location. and the speed of the pilot vehicle after processing .

[0143] The sorting rules are set as follows:

[0144] When the availability indicator of the current vehicle is the first indicator, the reference priority of the preceding vehicle reference information is higher than that of the navigating vehicle reference information, that is, the preceding vehicle reference information is ranked first and the navigating vehicle reference information is ranked second.

[0145] When the availability indicator of the current vehicle is the second indicator and the availability indicator of the navigating vehicle is the first indicator, the reference priority of the navigating vehicle's reference information is higher than that of the preceding vehicle's reference information, that is, the navigating vehicle's reference information is ranked first and the preceding vehicle's reference information is ranked second.

[0146] When both the preceding vehicle's availability indicator and the navigating vehicle's availability indicator are at the second level, the reference priority of the preceding vehicle's reference information is higher than that of the navigating vehicle's reference information; that is, the preceding vehicle's reference information is ranked first, and the navigating vehicle's reference information is ranked second.

[0147] Correspondingly, the reference sorting results include and ,in This indicates a reference ranking result where the reference information of the preceding vehicle is ranked first and the reference information of the lead vehicle is ranked second. This indicates the reference ranking result, where the lead vehicle's reference information is ranked first and the preceding vehicle's reference information is ranked second.

[0148] Based on the above reference sorting results, the control reference objects and reference priorities are determined, specifically including:

[0149] The current reference sort result is At that time, the preceding vehicle is identified as the control reference object, and the navigating vehicle is identified as the secondary reference object, thus forming a primary dependency relationship between the current vehicle and the preceding vehicle and a secondary dependency relationship between the current vehicle and the navigating vehicle.

[0150] The current reference sort result is At that time, the lead vehicle is identified as the control reference object, and the preceding vehicle is identified as the secondary reference object. The vehicle forms a primary dependency relationship with the lead vehicle and a secondary dependency relationship with the preceding vehicle.

[0151] The primary dependency relationship is used to characterize that the vehicle prioritizes the reference information corresponding to the control reference object to generate control commands within the current control cycle, while the secondary dependency relationship is used to characterize that the vehicle secondarily depends on the reference information corresponding to the secondary reference object to generate control commands within the current control cycle. The reference information corresponding to the primary dependency relationship serves as the main reference information for generating control commands, while the reference information corresponding to the secondary dependency relationship serves as the auxiliary reference information for generating control commands. Therefore, the reference sorting result is used not only to determine the control reference object and reference priority, but also to determine the order of action of different reference information in the process of generating control commands.

[0152] In this embodiment, the preceding vehicle is the direct target vehicle of this vehicle. Therefore, when neither the preceding vehicle nor the lead vehicle can be directly used as a control reference, the state information of the preceding vehicle after substitution processing is still preferentially used as the main control reference. In this case, the reference sorting result still corresponds to... The preceding vehicle is identified as the control reference object, and the lead vehicle is identified as the secondary reference object. The current vehicle forms a primary dependency relationship with the preceding vehicle and a secondary dependency relationship with the lead vehicle.

[0153] After processing in step S4, the control reference object, reference priority, and reorganized information dependency relationship are obtained and sent to step S5, where they are used together with the control input generated in step S3 for control command generation.

[0154] S5. Based on the control input, control reference object, reference priority, and recombined information dependencies, generate control commands for the platooned vehicles, specifically including:

[0155] After the control input is formed in step S3 and the control reference object and reference priority are determined in step S4, the control input, control reference object, reference priority and recombined information dependencies are jointly invoked to generate control commands for the platooned vehicles, thereby completing the control process from data acquisition, status determination, anomaly handling, reference recombination to control output within the current control cycle.

[0156] The reorganized information dependencies include primary dependencies and secondary dependencies. Primary dependencies correspond to the reference information of the control reference object, while secondary dependencies correspond to the reference information of the secondary reference object. When generating control commands, the target following state and control deviation are determined first based on the reference information corresponding to the primary dependencies. Then, the longitudinal control commands are generated in conjunction with the reference information corresponding to the secondary dependencies. This ensures that the control command generation process simultaneously reflects the state changes of both the control reference object and the secondary reference object.

[0157] First, the target following state is determined based on the control reference object. When the preceding vehicle is determined as the control reference object, the target distance is determined based on the speed of the current vehicle, and the target speed is determined based on the processed speed of the preceding vehicle. When the lead vehicle is determined as the control reference object, the target distance is determined based on the target sequence distance between the current vehicle and the lead vehicle, and the target speed is determined based on the processed speed of the lead vehicle.

[0158] In this embodiment, the target following state includes the target distance and the target speed. Let the target distance be... The target speed is When the current vehicle is identified as the control reference object, the static safety distance is set as follows: The expected headway is Then the target spacing and target speed They are respectively:

[0159] and In this embodiment, the static safety distance Pick Expected headway Pick .

[0160] When the lead vehicle is identified as the control reference object, let the target sequence distance between this vehicle and the lead vehicle be . Then the target spacing and target speed They are respectively:

[0161] and .

[0162] After the target following state is determined, a control deviation is generated based on the target following state and the vehicle's operating state; the control deviation includes position deviation and speed deviation; let the position deviation be... The speed deviation is When the current vehicle is identified as the control reference object, the position deviation... and speed deviation They are respectively:

[0163] and .

[0164] When the lead vehicle is identified as the control reference object, let the platoon distance between this vehicle and the lead vehicle be . ,Right now Position deviation at this time and speed deviation They are respectively:

[0165] and .

[0166] After obtaining the position and velocity deviations, longitudinal control commands are output based on the control deviations, specifically including:

[0167] When the vehicle in front is identified as the control reference, the longitudinal control command is generated based on the position and speed deviations between the current vehicle and the vehicle in front.

[0168] When the lead vehicle is identified as the control reference object, the longitudinal control command is generated based on the platoon position deviation and speed deviation of the vehicle relative to the lead vehicle;

[0169] When both the preceding vehicle and the navigating vehicle have the second status availability identifier, the control reference object is still determined to be the preceding vehicle. At this time, the longitudinal control command is generated based on the preceding vehicle status information after the substitution process, the current vehicle's position, speed, relative distance, relative speed, and the historical status evolution results of the preceding vehicle.

[0170] Furthermore, when the preceding vehicle is identified as the control reference object, the preceding vehicle reference information corresponding to the primary dependency is used to determine the target speed, position deviation, and speed deviation, while the lead vehicle reference information corresponding to the secondary dependency participates in the generation of longitudinal control commands as auxiliary reference information. When the lead vehicle is identified as the control reference object, the lead vehicle reference information corresponding to the primary dependency is used to determine the target speed, position deviation, and speed deviation, while the preceding vehicle reference information corresponding to the secondary dependency participates in the generation of longitudinal control commands as auxiliary reference information. Thus, the reorganized information dependencies participate in the generation of longitudinal control commands, rather than being used only for the selection of the control reference object.

[0171] In this embodiment, the longitudinal control command is a longitudinal acceleration command; let the longitudinal acceleration command be... The position deviation coefficient is The speed deviation coefficient is ,Right now Furthermore, let the upper limit of longitudinal acceleration be... The lower limit of longitudinal acceleration is ,in:

[0172] When satisfied At that time, saturation constraint is applied, and the result is obtained. ;

[0173] When satisfied When saturation constraint is applied, the result is... :

[0174] When satisfied At that time, the calculation result remains unchanged.

[0175] In this embodiment, the position deviation coefficient Take 0.25, speed deviation coefficient Take 0.6 as the upper limit of longitudinal acceleration. Pick Lower limit of longitudinal acceleration Pick After processing in step S5, the output control command is a longitudinal acceleration command. .

[0176] In this embodiment, the thresholds, coefficients, and weights are set based on communication cycle, perception accuracy, vehicle dynamics response capability, desired platoon spacing, and control stability requirements; wherein:

[0177] The reception timing threshold includes the front vehicle reception timing threshold. and the timing threshold of the pilot vehicle's reception This is used to limit the maximum permissible delay of inter-vehicle status information, and its value range is set to... to ;

[0178] State continuity thresholds include the preceding vehicle position continuity threshold. Forward vehicle speed continuity threshold Continuity threshold of the navigator vehicle's position and the speed continuity threshold of the lead vehicle It is used to characterize the continuity constraint between the received state information and the historical state evolution results. Its value can be set according to the vehicle position measurement error, speed measurement error and the fluctuation range of formation operation.

[0179] The preceding vehicle substitution handling deviation threshold includes the preceding vehicle position deviation threshold. Speed ​​deviation threshold of the vehicle in front This is used to limit the range of deviation between the result of the previous vehicle replacement process and the historical state evolution result of the previous vehicle;

[0180] The fusion weights include the fusion weights of the preceding vehicle speed. Weighting the position of the vehicle in front This value is used to balance the influence of perceived substitution outcomes and historical state evolution outcomes, and its range is from 0 to 1.

[0181] Control factors include position deviation factors. and speed deviation coefficient This is used to determine the extent to which control deviations affect longitudinal control commands;

[0182] In addition, static safety distance Expected headway Upper limit of longitudinal acceleration Lower limit of longitudinal acceleration And the target sequence distance between this vehicle and the lead vehicle The settings are based on formation safety, control comfort, and queue order requirements, respectively.

[0183] Provided that system stability and safety are met, the above parameters can be determined through simulation calibration or real vehicle test calibration.

[0184] The execution flow of this embodiment is described below with a brief example, specifically including:

[0185] Taking a three-vehicle formation as an example, the three-vehicle formation includes the lead vehicle A, the preceding vehicle B, and the vehicle C. The vehicle C executes the formation control process according to steps S1 to S5.

[0186] Within one control cycle, vehicle C first obtains its own position. Speed ​​of this vehicle The relative distance between vehicle C and vehicle B in front The relative speed between vehicle C and vehicle B in front. The location of the vehicle in front (transmitted by vehicle B) is the receiving location of the vehicle in front. Front vehicle receiving speed and the previous vehicle's timestamp The location of the navigator vehicle sent by navigator vehicle A. Navigation vehicle receiving speed and the pilot vehicle timestamp Historical position projection results of vehicle B Historical speed projection results Historical position projection results of navigator vehicle A Historical speed projection results The data is then written into the current control cycle buffer.

[0187] Subsequently, vehicle C performs reception timing verification and status continuity verification on the inter-vehicle status information of the preceding vehicle B and the lead vehicle A. When the reception timing verification and status continuity verification of the preceding vehicle B pass, the status availability identifier of the preceding vehicle is set to the first identifier; otherwise, the status availability identifier of the preceding vehicle is set to the second identifier. When the reception timing verification and status continuity verification of the lead vehicle A pass, the status availability identifier of the lead vehicle is set to the first identifier; otherwise, the status availability identifier of the lead vehicle is set to the second identifier.

[0188] In this embodiment, the availability status identifier of the preceding vehicle B is the second identifier; therefore, the current vehicle C performs substitution processing on the inter-vehicle status information of the preceding vehicle B. Based on the current vehicle's position... and relative distance Calculate the initial value of the replacement position of the preceding vehicle. According to the speed of this vehicle and relative velocity Calculate the initial value of the replacement speed of the preceding vehicle. Subsequently, the results were extrapolated based on the historical speeds of previous vehicles. Forward vehicle speed fusion weight Speed ​​deviation threshold of the vehicle in front Initial value of the replacement speed of the preceding vehicle Perform preceding vehicle replacement speed consistency correction to obtain the processed preceding vehicle speed. Based on the historical position of the preceding vehicle, the following deduction results were generated. Forward vehicle position fusion weight Dependence threshold between the vehicle in front and the vehicle ahead Initial value of the replacement position of the preceding vehicle Perform preceding vehicle replacement position consistency correction to obtain the processed preceding vehicle position. Meanwhile, since the availability status identifier of the lead vehicle A is the first identifier, the inter-vehicle status information of the lead vehicle A is preserved to obtain the processed position of the lead vehicle. and the speed of the pilot vehicle after processing .

[0189] Subsequently, car C will Combining as control input Simultaneously, a reference ranking is established based on the availability indicators of the preceding vehicle and the navigator vehicle. Since the preceding vehicle's availability indicator is the second indicator and the navigator vehicle's availability indicator is the first indicator, the navigator vehicle's reference information is ranked first, and the preceding vehicle's reference information is ranked second. Therefore, navigator vehicle A is identified as the control reference object, preceding vehicle B is identified as the secondary reference object, and vehicle C forms a primary dependency relationship with navigator vehicle A and a secondary dependency relationship with preceding vehicle B.

[0190] During the control command generation phase, vehicle C determines the position of the lead vehicle based on the processed command. Speed ​​of the pilot vehicle after processing Location of this vehicle Speed ​​of this vehicle The target following state is determined based on the historical state evolution results of the lead vehicle, and then the position deviation is generated based on the target following state and the operating state of the lead vehicle. and speed deviation Finally, a longitudinal acceleration command is generated based on the control law. This allows vehicle C to maintain stable convoy following even when the preceding vehicle B experiences communication issues.

[0191] As can be seen from the above description, the intelligent connected vehicle platooning control method for dealing with communication anomalies provided in this embodiment has the following technical effects:

[0192] By acquiring the vehicle's own operating status, the relative motion status perceived by the vehicles in the formation to the target vehicle, and the received inter-vehicle status information, the system performs reception timing verification and status continuity verification on the inter-vehicle status information, generates a status availability identifier corresponding to the inter-vehicle status information, and performs information processing and reference sorting based on the status availability identifier. While forming control inputs, it determines the control reference object, reference priority, and recombined information dependencies. Then, based on the control inputs, control reference objects, reference priorities, and recombined information dependencies, it generates control commands for the vehicles in the formation. This enables coordinated organization of abnormal information processing and control reference relationship adjustment when the inter-vehicle status information of different reference vehicles in the formation becomes abnormal and the availability varies. This helps improve the coordination between control input construction and control reference determination, enhances the continuous connection capability of the vehicle control process in the formation, and plays a positive role in car-following stability and control adaptability in communication abnormal scenarios.

[0193] Please see Figure 5 The second objective of this embodiment is to provide a system for intelligent connected vehicle platoon control in response to communication anomalies, comprising a state information acquisition module 100, a state availability identifier generation module 200, a control input generation module 300, a reference reconstruction module 400, and a control command generation module 500, wherein:

[0194] The status information acquisition module 100 acquires the vehicle's own operating status, the relative motion status perceived by the vehicles in the formation to the target vehicle, and the received inter-vehicle status information.

[0195] The status availability identifier generation module 200 performs reception timing verification and status continuity verification on the inter-vehicle status information, and generates a status availability identifier corresponding to the inter-vehicle status information.

[0196] The control input generation module 300 performs corresponding information processing on the inter-vehicle status information according to the status availability identifier, and combines the processed inter-vehicle status information with the vehicle's operating status, relative motion status and historical status evolution results to generate control input;

[0197] The reference reconstruction module 400 sorts the reference information of each vehicle in the formation according to the status availability identifier, determines the control reference object and reference priority of the vehicles in the formation based on the reference sorting result, and generates the reconstructed information dependency relationship.

[0198] The control command generation module 500 generates control commands for the platooned vehicles based on the control input, control reference object, reference priority, and recombined information dependencies.

[0199] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for intelligent connected vehicle platooning control to cope with communication anomalies, characterized in that, The methods and steps include the following: S1. Obtain the vehicle's own operating status, the relative motion status perceived by the vehicles in the formation to the target vehicle, and the received inter-vehicle status information. S2. Perform reception timing verification and status continuity verification on the inter-vehicle status information to generate a status availability identifier corresponding to the inter-vehicle status information; S3. Based on the status availability identifier, perform corresponding information processing on the inter-vehicle status information, and combine the processed inter-vehicle status information with the vehicle's operating status, the relative motion status, and the historical status evolution results to generate control input; S4. Based on the status availability identifier, the reference information of each vehicle in the formation is sorted, and the control reference object and reference priority of the vehicles in the formation are determined according to the reference sorting result, and the reorganized information dependency relationship is generated. S5. Generate control commands for the platooned vehicles based on the control input, the control reference object, the reference priority, and the recombined information dependency relationship.

2. The intelligent connected vehicle platooning control method for responding to communication anomalies according to claim 1, characterized in that, Step S1 specifically includes: The convoy vehicles include the vehicle itself, the lead vehicle, and the navigator vehicle, and the target vehicle is the lead vehicle. The vehicle status information includes the preceding vehicle's vehicle status information and the lead vehicle's vehicle status information; The vehicle's operating status includes its speed and position. The relative motion state includes the relative distance and relative speed between the vehicle and the vehicle in front; The preceding vehicle's inter-vehicle status information includes the preceding vehicle's position, speed, and timestamp. The inter-vehicle status information of the lead vehicle includes the position, speed, and timestamp of the lead vehicle; The historical state evolution results include the historical position projection results of the preceding vehicle, the historical speed projection results of the preceding vehicle, the historical position projection results of the lead vehicle, and the historical speed projection results of the lead vehicle.

3. The intelligent connected vehicle platooning control method for responding to communication anomalies according to claim 2, characterized in that, The process of generating the status availability identifier specifically includes: Calculate the reception time difference corresponding to the inter-vehicle status information of the preceding vehicle and the inter-vehicle status information of the lead vehicle, respectively. The receiving time difference corresponding to the inter-vehicle status information of the preceding vehicle is compared with the receiving timing threshold of the preceding vehicle to complete the receiving timing verification of the preceding vehicle. The receiving time difference corresponding to the inter-vehicle status information of the lead vehicle is compared with the receiving timing threshold of the lead vehicle to complete the receiving timing verification of the lead vehicle. The preceding vehicle's position and speed received in the current control cycle are compared with the preceding vehicle's historical position and speed projection results to obtain the preceding vehicle's state deviation. The current position and speed of the navigator are compared with the historical position and speed projection results of the navigator to obtain the navigator state deviation. Based on the preceding vehicle's state deviation, the preceding vehicle's position continuity threshold, and the preceding vehicle's speed continuity threshold, the preceding vehicle's continuity evaluation quantity is obtained, and the preceding vehicle's state continuity is verified based on the preceding vehicle's continuity evaluation quantity. Based on the navigator's state deviation, position continuity threshold, and speed continuity threshold, the navigator continuity evaluation quantity is obtained, and the navigator's state continuity is verified based on the navigator continuity evaluation quantity. Based on the preceding vehicle's reception timing verification results and the preceding vehicle's status continuity verification results, a preceding vehicle status availability identifier is generated. Based on the timing verification results of the navigator vehicle's reception and the continuity verification results of the navigator vehicle's status, a navigator vehicle status availability identifier is generated. The availability identifiers of the leading vehicle and the navigating vehicle include a first identifier and a second identifier; When the timing verification of the current vehicle's reception passes and the continuity verification of the preceding vehicle's status passes, the availability identifier of the preceding vehicle's status is set to the first identifier; otherwise, the availability identifier of the preceding vehicle's status is set to the second identifier. When the timing verification of the navigator vehicle's reception passes and the continuity verification of the navigator vehicle's status passes, the availability identifier of the navigator vehicle's status is set to the first identifier; otherwise, the availability identifier of the navigator vehicle's status is set to the second identifier. The first identifier is used to indicate that the corresponding vehicle status information can be directly used as a control reference, and the second identifier is used to indicate that the corresponding vehicle status information cannot be directly used as a control reference, and to perform substitution processing on the corresponding vehicle status information.

4. The intelligent connected vehicle platooning control method for responding to communication anomalies according to claim 3, characterized in that, The information processing process specifically includes: Based on the availability identifier of the preceding vehicle, perform retention or replacement processing on the inter-vehicle status information of the preceding vehicle to obtain the processed preceding vehicle status information. Based on the availability identifier of the navigator vehicle status, perform retention or replacement processing on the inter-vehicle status information of the navigator vehicle to obtain the processed navigator vehicle status information. When the availability flag of the current vehicle is the first flag, the inter-vehicle status information of the preceding vehicle is retained. When the current vehicle's status availability identifier is the second identifier, the vehicle-to-vehicle status information of the preceding vehicle is replaced. When the availability status of the lead vehicle is the first status, the inter-vehicle status information of the lead vehicle is retained. When the availability identifier of the lead vehicle is the second identifier, the inter-vehicle status information of the lead vehicle is replaced.

5. The intelligent connected vehicle platooning control method for responding to communication anomalies according to claim 4, characterized in that, The process of generating the control input specifically includes: The replacement processing of the preceding vehicle's inter-vehicle status information includes the calculation of the initial value of the preceding vehicle's replacement position, the calculation of the initial value of the preceding vehicle's replacement speed, the consistency correction of the preceding vehicle's replacement speed, and the consistency correction of the preceding vehicle's replacement position. The preceding vehicle replacement speed consistency correction is based on the initial value of the preceding vehicle replacement speed, the historical speed extrapolation result of the preceding vehicle, the speed fusion weight of the preceding vehicle, and the speed deviation threshold of the preceding vehicle to obtain the processed preceding vehicle speed. The preceding vehicle replacement position consistency correction is based on the initial value of the preceding vehicle replacement position, the historical position extrapolation result of the preceding vehicle, the preceding vehicle position fusion weight, and the preceding vehicle position deviation threshold to obtain the processed preceding vehicle position. When the availability identifier of the navigator vehicle is the second identifier, the processed navigator vehicle status information is obtained based on the historical status evolution results of the navigator vehicle. The control input is obtained by combining the processed preceding vehicle status information, the processed navigator vehicle status information, the vehicle's operating status, the relative motion status, and the historical state evolution results.

6. The intelligent connected vehicle platooning control method for responding to communication anomalies according to claim 3, characterized in that, The reference sorting process specifically includes: The vehicles participating in the reference ranking include the lead vehicle and the navigator vehicle; The processed status information of the preceding vehicle is used as the reference information for the preceding vehicle, and the processed status information of the navigating vehicle is used as the reference information for the navigating vehicle. When the availability indicator of the current vehicle is the first indicator, the reference priority of the reference information of the preceding vehicle is higher than that of the reference information of the navigating vehicle. When the availability indicator of the current vehicle is the second indicator and the availability indicator of the navigating vehicle is the first indicator, the reference priority of the navigating vehicle's reference information is higher than that of the preceding vehicle's reference information. When both the current vehicle's availability indicator and the navigating vehicle's availability indicator are set to the second indicator, the reference priority of the current vehicle's reference information is higher than that of the navigating vehicle's reference information.

7. The intelligent connected vehicle platooning control method for responding to communication anomalies according to claim 6, characterized in that, The process of determining the control reference object and the reference priority specifically includes: The control reference object and the reference priority are determined based on the reference sorting. When the reference priority of the preceding vehicle's reference information is higher than that of the navigating vehicle's reference information, the preceding vehicle is identified as the control reference object, and the navigating vehicle is identified as the secondary reference object; When the reference priority of the lead vehicle's reference information is higher than that of the preceding vehicle's reference information, the lead vehicle is identified as the control reference object, and the preceding vehicle is identified as the secondary reference object. When both the preceding vehicle and the navigating vehicle have the second availability indicator, the preceding vehicle is identified as the control reference object, and the navigating vehicle is identified as the secondary reference object.

8. The intelligent connected vehicle platooning control method for responding to communication anomalies according to claim 7, characterized in that, The process of generating the information dependency relationship specifically includes: When the preceding vehicle is identified as the control reference object, the current vehicle forms a primary dependency relationship with the preceding vehicle and a secondary dependency relationship with the navigator vehicle. The primary dependency relationship is used to indicate that the current vehicle prioritizes the reference information of the preceding vehicle to generate control commands, and the secondary dependency relationship is used to indicate that the current vehicle secondaryly depends on the reference information of the navigator vehicle to generate control commands. When the lead vehicle is identified as the control reference object, the vehicle forms a primary dependency relationship with the lead vehicle and a secondary dependency relationship with the preceding vehicle. The primary dependency relationship indicates that the vehicle primarily relies on the reference information of the lead vehicle to generate control commands, and the secondary dependency relationship indicates that the vehicle secondarily relies on the reference information of the preceding vehicle to generate control commands.

9. The intelligent connected vehicle platooning control method for responding to communication anomalies according to claim 8, characterized in that, The process of generating the control commands specifically includes: The target following state is determined based on the control input, the control reference object, the reference priority, and the information dependency relationship; When the vehicle in front is identified as the control reference object, the target distance is determined based on the reference information of the vehicle in front corresponding to the main dependency relationship, and the target speed is determined based on the speed of the vehicle in front after processing. When the lead vehicle is identified as the control reference object, the target distance is determined based on the lead vehicle reference information corresponding to the primary dependency relationship, according to the target sequence distance between the vehicle and the lead vehicle, and the target speed is determined based on the processed lead vehicle speed. A control deviation is generated based on the target following state and the vehicle's operating state; When the preceding vehicle is identified as the control reference object, based on the preceding vehicle reference information corresponding to the primary dependency relationship, longitudinal control commands are generated according to the position and speed deviations between the current vehicle and the preceding vehicle, and the navigator reference information corresponding to the secondary dependency relationship is used as auxiliary reference information to participate in the generation of the longitudinal control commands. When the lead vehicle is identified as the control reference object, based on the lead vehicle reference information corresponding to the primary dependency relationship, longitudinal control commands are generated according to the platoon position deviation and speed deviation of the vehicle relative to the lead vehicle, and the preceding vehicle reference information corresponding to the secondary dependency relationship is used as auxiliary reference information to participate in the generation of the longitudinal control commands. When both the preceding vehicle's status availability identifier and the navigator's status availability identifier are set to the second identifier, the control reference object is determined to be the preceding vehicle. The current vehicle forms a primary dependency relationship with the preceding vehicle and a secondary dependency relationship with the navigator. The longitudinal control command is generated based on the preceding vehicle's status information after substitution processing, the current vehicle's position, speed, relative distance, relative speed, and the historical status evolution results of the preceding vehicle. The control command is a longitudinal acceleration command; The longitudinal acceleration command is generated based on the control deviation and the control coefficient; After the longitudinal acceleration command is generated, a saturation limit based on the upper and lower limits of longitudinal acceleration is applied to the longitudinal acceleration command.

10. A system using the intelligent connected vehicle platooning control method for responding to communication anomalies as described in any one of claims 1-9, characterized in that, It includes a status information acquisition module, a status availability identifier generation module, a control input generation module, a reference reconstruction module, and a control command generation module, wherein: The status information acquisition module acquires the vehicle's own operating status, the relative motion status perceived by the vehicles in the formation to the target vehicle, and the received inter-vehicle status information. The status availability identifier generation module performs reception timing verification and status continuity verification on the inter-vehicle status information to generate a status availability identifier corresponding to the inter-vehicle status information. The control input generation module performs corresponding information processing on the inter-vehicle status information according to the status availability identifier, and combines the processed inter-vehicle status information with the vehicle's operating status, the relative motion status, and the historical status evolution results to generate control input; The reference reconstruction module sorts the reference information of each vehicle in the formation according to the state availability identifier, determines the control reference object and reference priority of the vehicles in the formation based on the reference sorting result, and generates the reconstructed information dependency relationship. The control command generation module generates control commands for the platooned vehicles based on the control input, the control reference object, the reference priority, and the recombined information dependency relationship.

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