Heterogeneous vehicle queue stability control method and system considering communication time lag

Abstract

The invention discloses a heterogeneous vehicle queue stability control method and system considering communication time lag, and the method comprises the steps: building a vehicle longitudinal dynamic model, a fixed spacing strategy and a communication topology of a heterogeneous vehicle queue control system, and carrying out the equivalent decomposition of a closed-loop system characteristic equation of a vehicle queue into a plurality of subsystem characteristic equations, converting the stability control problem of the whole vehicle queue control system into the stability control problem of a plurality of subsystems, and greatly reducing the calculated amount of vehicle queue stability control and analysis. By establishing an auxiliary characteristic equation of a subsystem, an infinite system characteristic root solving problem is converted into a limited pure virtual root solving problem, direct rooting of the system characteristic equation is avoided, the accurate time-lag boundary of the vehicle queue can be calculated, it can be guaranteed that the vehicle queue stably runs in the given time-lag boundary, and the obtained stability condition is a sufficient and necessary condition.

Description

technical field [0001] The invention belongs to the field of vehicle platoon control, in particular to a heterogeneous vehicle platoon stability control method and system considering communication time lag. Background technique [0002] In recent years, with the growth of the number of motor vehicles, serious problems such as traffic congestion, energy consumption, and exhaust emissions have become increasingly prominent. Studies have shown that intelligent vehicles can realize the "sharing" interaction of workshop information through various wireless communication methods such as vehicle-vehicle communication and vehicle-infrastructure communication, so that vehicles can drive in a queue, which can improve driving safety, increase traffic capacity, and reduce energy consumption. . [0003] However, due to objective reasons such as communication bandwidth and channel congestion, there must be communication time lag in the communication of vehicle platoons. The existence of...

AI Technical Summary

Problems solved by technology

However, considering that the dynamic characteristics of different vehicles in actual road traffic are different, resulting in the existence of vehicle platoons in a heterogeneous form, and the controller gains of each vehicle in the platoon are different from each other, the modeling and stability control of the vehicle platoon system brings challenges

There is still a lack of a stability control method for a heterogeneous vehicle platoon closed-loop control system with a small amount of calculation and strong scalability

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