Finite time convergence vehicle formation control method based on disturbance observer

Abstract

The invention discloses a finite time convergence vehicle formation control method based on a disturbance observer. The method comprises the following steps that step 1, vehicles in a formation are numbered from 0 to N from front to back, wherein the zeroth vehicle is a pilot vehicle running at a constant speed, and step 2, each vehicle obtains estimated values of unmatched speed disturbance and matched acceleration disturbance through a disturbance observer; step 3, in the driving process, the pilot vehicle and each following vehicle i use onboard communication to send own number, position, speed, acceleration, and disturbance estimate information to other vehicles; step 4, a position tracking error is defined to be e(p,j) and a speed tracking error is defined as e (v,i); step 5, each following vehicle i uses the own position, speed, acceleration and disturbance estimation information and received position, speed, acceleration and disturbance estimation information of other vehicles to calculate own expected acceleration; step 6, the expected acceleration is determined to be higher or lower than the actual acceleration when the opening degree of the throttle valve is zero; step 7,a driving system or a braking system acts to obtain a driving torque Tiw or a braking torque Tib, and the driving torque Tiw or the braking torque Tib is applied to the vehicle body; and step 8, eachfollowing vehicle continuously repeats the steps 2-7 to realize vehicle formation driving. According to the finite time convergence vehicle formation control method based on the disturbance observer,the vehicle formation development error can be converged within the finite time, so that the vehicle formation tracking performance and safety are ensured.

Description

technical field [0001] The invention relates to the field of intelligent traffic system control, in particular to a limited-time convergence vehicle formation control method based on a disturbance observer. Background technique [0002] China has increasingly become the world's largest automobile market, and the accompanying urban traffic congestion has made traffic operation safety and efficiency as well as vehicle fuel economy facing huge challenges. Vehicle formation technology, that is, cooperative adaptive cruise control technology, provides a new method for solving traffic problems by using vehicle-to-vehicle communication to coordinate vehicle formation control, improving road utilization and vehicle economic benefits, and thus has been widely studied. [0003] There are many patents on vehicle formation control. The patent with the application number 201910452625.4 provides a truck formation method based on vehicle-road cooperative control; the patent with the appli...

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Problems solved by technology

[0004] Existing research does not consider the impact of vehicle mismatch speed disturbance and matching acceleration disturbance, which exist objectively under the conditions of uneven road surface, strong wind, parameter changes and external disturbances, and have an important impact on cooperative control

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