Traffic flow distributed cooperative formation control method based on adaptive event triggering
An event-triggered and control-method technology, applied in traffic control systems, traffic control systems, electrical components, etc. of road vehicles, which can solve problems such as high communication load and waste of resources.
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[0053] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.
[0054] Such as figure 2 As shown, this embodiment provides a vehicle flow distributed cooperative formation control method based on adaptive event triggering, including the following steps:
[0055] 1) Establish a linear dynamic model of the unmanned vehicle, based on the global coordinate position information of the unmanned vehicle itself and its neighbor unmanned vehicles, and transmit it to the on-board microcontroller to perform obstacle avoidance control with neighbor vehicles.
[0056] When establishing the linear dynamic model of the unmanned vehicle, the inertial system XOY...
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