Intelligent networked automobile formation control method based on event triggering

An event-triggered and control method technology, applied in road vehicle traffic control systems, traffic control systems, instruments, etc., can solve the problems of measurement noise impact, frequent vehicle communication, etc., to reduce following error, communication frequency and energy consumption , the effect of increasing economic benefits

Pending Publication Date: 2022-07-26
JILIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] Aiming at the deficiencies of the prior art, the present invention provides an event-triggered intelligent networked vehicle formation control method, which solves the problems of frequent vehicle communication in the formation and measurement noise affecting vehicle control accuracy

Method used

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  • Intelligent networked automobile formation control method based on event triggering
  • Intelligent networked automobile formation control method based on event triggering
  • Intelligent networked automobile formation control method based on event triggering

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Embodiment Construction

[0103] like figure 1 As shown, a method for formation control of intelligent networked vehicles based on event triggering and state estimation proposed by an embodiment of the present invention includes the following steps:

[0104] Step 1: Receive the status information of the preceding vehicle and the self-vehicle through the vehicle networking communication and the self-vehicle sensor measurement:

[0105] Receive the acceleration transmission value of the preceding vehicle through the Internet of Vehicles communication The distance x between the received vehicle and the preceding vehicle is measured by the self-vehicle sensor i-1 -x i -L, the relative speed v of the ego vehicle and the preceding vehicle i-1 -v i and the vehicle's acceleration a i .

[0106] Step 2: Use the Kalman filter to estimate the measured vehicle state information:

[0107] In step 2, the estimated value of the state information required by the vehicle needs to be obtained, including the foll...

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Abstract

The invention belongs to the technical field of intelligent networked automobiles, and particularly relates to an intelligent networked automobile formation control method based on event triggering, which comprises the following steps of: measuring and receiving state information of a front automobile and an own automobile through internet-of-vehicles communication and an own automobile sensor; estimating the measured vehicle state information by using a Kalman filter; inputting the acquired and processed state information into an upper layer controller; the expected acceleration and the actual vehicle state are input into a lower-layer controller to correct the opening degree of a throttle valve and the brake pressure; and outputting a self-vehicle acceleration transmission value according to the event triggering strategy. According to the invention, the communication frequency and energy consumption between vehicles are reduced by using an event triggering strategy, Kalman filtering is introduced to carry out state estimation on information received by a self-vehicle sensor, the following precision is improved, the following error is reduced, and the internal triggering time is increased; a linear optimal quadratic form (LQR) is adopted to design a following control law, the control target of the formation is achieved, and the safety of following vehicles is guaranteed.

Description

technical field [0001] The invention relates to the technical field of intelligent networked vehicles, in particular to an intelligent networked vehicle formation control method based on event triggering and state estimation. Background technique [0002] Vehicle formation control maintains a small and relatively stable distance between vehicles in the formation and the same speed along the road by arranging multiple vehicles into a designated formation and structure. Formation of intelligent networked vehicles is a cost-effective method to increase traffic capacity in the future, which is conducive to alleviating traffic congestion, reducing traffic accidents, and reducing environmental pollution. [0003] Using the information transmitted by the Internet of Vehicles communication, each vehicle can obtain the real-time status of other vehicles in the formation. After receiving this information, the vehicles in the formation can adjust the driving state after calculation and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G08G1/123G08G1/052
CPCG08G1/123G08G1/052
Inventor 胡宏宇王子轩程铭孙亮亮李争一
Owner JILIN UNIV
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