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Anti-interference adaptive dynamic planning method for CACC system

A dynamic programming and self-adaptive technology, applied in control/regulation systems, motor vehicles, non-electric variable control, etc., can solve problems such as not being able to capture the dynamic characteristics of vehicles well

Active Publication Date: 2020-12-04
东北大学秦皇岛分校
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Problems solved by technology

[0004] Due to the second-order fleet model used in the design of the controller, the second-order fleet model cannot capture the dynamic characteristics of the vehicle interior very well, and it needs to take into account various interference problems during the driving process of the fleet

Method used

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  • Anti-interference adaptive dynamic planning method for CACC system
  • Anti-interference adaptive dynamic planning method for CACC system
  • Anti-interference adaptive dynamic planning method for CACC system

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Embodiment Construction

[0089]The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0090] The heterogeneous fleet model provided in this example considers actuator faults and external disturbances comprehensively, adopts a data-driven ADP algorithm, and designs a cooperative controller, which can enable the fleet to achieve convergence of each vehicle during the entire braking process. And realize the queue stability of the entire fleet.

[0091] An adaptive dynamic programming method for an anti-jamming CACC system, such as figure 1 shown, including the following steps:

[0092] Step 1. According to the dynamic performance of the vehicle, construct a fixed time interval strategy, adopt a one-way communication structure, and establish a longitudinal dy...

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Abstract

The invention provides an anti-interference adaptive dynamic planning method for a CACC system, and relates to the technical field of heterogeneous motorcade control. According to the ADP motorcade cooperative control method based on data driving, the motorcade stability problem under the condition that actuator delay, external interference and front vehicle interference exist at the same time issolved through model building and the ADP motorcade cooperative control method based on data driving, and the motorcade can rapidly reach the stable state through the ADP motorcade cooperative controlmethod. In terms of vehicle stability analysis, the stability of a vehicle is proved by analyzing the size of the cost function updated by a controller. Through analysis, the cost function is boundedand is smaller than the minimum value, and it is proved that the state of the vehicle and the control input reach the stable state.

Description

technical field [0001] The invention relates to the technical field of heterogeneous fleet control, in particular to an adaptive dynamic programming method of an anti-jamming CACC system. Background technique [0002] In recent years, the research on heterogeneous fleets is still limited, and the application of data-driven control methods in fleet cooperative adaptive cruise control (CACC) is also rare. With the rapid development of artificial intelligence technology, Jiang et al. Y. Jiang and Z.-P. Jiang, "Computational adaptive optimal control for continuous-timelinear systems with completely unknown dynamics," Automatica, vol.48, no.10, pp. 2699–2704, 2012. and Y. Jiang and Z.-P. Jiang, “Robust adaptive dynamic programming and feedback stabilization of nonlinear systems,” IEEE Trans. Neural Netw. Learn. Syst., vol.25, no.5, pp. 882–893, May 2014. Proposed an adaptive optimal control method for linear systems and further extended the method to nonlinear systems. Recently,...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214G05D1/0221G05D1/0295G05D1/0276
Inventor 高振宇安会爽郭戈
Owner 东北大学秦皇岛分校
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