Vehicle queue following stability control method considering communication topological time varying

Abstract

The invention discloses a vehicle queue following stability control method considering communication topological time varying. The method herein comprises the steps of 1, establishing a vehicle queuefollowing mathematical model; 2, describing a node power unit as a node linear model; 3, establishing a high-dimensional closed-loop state equation of a vehicle queue following control system considering communication topological time varying; 4, according to the high-dimensional closed-loop state equation, giving a sufficient condition for the fact that a vehicle queue considering communication topological time varying has a stabilization controller, namely when average residence time is longer than a lower limit, the stabilization controller of the vehicle queue system has a feasible solution; 5, by using the sufficient condition for the fact that the vehicle queue has the stabilization controller, providing a low-dimensional Riccati inequation to obtain controller gain. The method herein ensures that the vehicle queue following system under communication topological time varying is stable and robust.

Description

technical field [0001] The invention relates to the technical field of intelligent driving, in particular to a vehicle platoon following stability control method considering the time-varying communication topology. Background technique [0002] In recent years, with the continuous increase of car ownership, while cars bring convenience to human beings, they also cause problems such as traffic safety, traffic congestion, energy crisis and environmental degradation. International studies have shown that: in the process of driving on the highway, if the vehicles are driven in a queue, the overall aerodynamic resistance can be changed by shortening the following distance, which is expected to increase traffic flow and reduce fuel consumption. [0003] Due to differences in gender, age, physical condition and driving environment, ordinary drivers usually have different car-following behaviors and car-following distances, resulting in insufficient utilization of road resources. M...

AI Technical Summary

Problems solved by technology

[0005] However, there are still many problems and defects in the vehicle platoon following system based on vehicle-to-vehicle communication

Vehicle platoons need to face complex road conditions during driving, and there are many interference factors, which can easily cause unstable communication signals, and there may be member vehicles constantly cutting in and out during the actual driving process of the vehicle platoon, which will Causes structural changes in communication topology

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