Unmanned vehicle formation driving method based on directed communication network

Abstract

The invention relates to an unmanned vehicle formation driving method based on a directed communication network. The method comprises the following steps that 1) the transfer function model of the individual unmanned vehicles of the unmanned vehicle formation is identified; 2) the communication network topology of the unmanned vehicle formation is set and the input degree of each vehicle is acquired; 3) the H2 optimal formation controller of the individual unmanned vehicles is constructed according to the performance index; 4) a filter fi(s) is connected in series after the H2 optimal formation controller and the stability domain of the performance degree is acquired, and compromise of the nominal performance and the robust performance can be realized through quantitative adjustment in thestability domain; 5) the H2 optimal formation controller of the individual unmanned vehicles is converted into the optimal PID controller; and 6) the optimal PID formation controller is discretized so as to acquire the control signal sequence and output the formation control command. Compared with the methods in the prior art, the unmanned vehicle formation driving method has the advantages of distributed individual design, facilitating actual application and balancing the nominal performance and the robust performance.

Description

technical field [0001] The invention relates to the technical field of automobile engineering, in particular to an unmanned vehicle formation driving method based on a directed communication network. Background technique [0002] Thanks to a large amount of government funding and the vision of leading new energy technologies, my country has increasingly become the world's largest electric vehicle market. At the same time, the automatic driving technology and active safety systems of new energy vehicles have also become hot issues of concern to automotive R&D engineers today. According to statistics, among the traffic accidents in recent years, the traffic accidents caused by drivers' fatigue driving or operating errors accounted for more than 60% of all traffic accidents, seriously affecting people's life and property safety. Realization data shows that when the car is approaching at a constant speed, the fuel consumption and exhaust emissions will be reduced, and the drivin...

AI Technical Summary

Problems solved by technology

As far as formation control design is concerned, convergence is only a prerequisite to ensure system stability, but the design often stops at convergence. Few people study the optimization of formation driving performance indicators, especially the improvement of transient performance.

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