CN107918389B - Autonomous vehicle queue control method for effectively inhibiting engine output overload - Google Patents
Autonomous vehicle queue control method for effectively inhibiting engine output overload Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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Abstract
The invention discloses an autonomous vehicle queue control method for effectively inhibiting engine output overload, which comprises the steps of firstly, carrying out dynamic analysis on vehicle motion, and establishing a vehicle dynamic model which is a nonlinear model; then, information transmission among the vehicles is carried out in a V2V mode, the information is position, speed and acceleration, each vehicle only carries out information interaction with the front vehicle and the rear vehicle, and a vehicle queue system is further constructed in a cascading mode; secondly, designing a saturation function to limit the output of the engine, generating a new overload error signal, further designing a saturation error feedback control law, and inhibiting error accumulation caused by overload output of the engine; and finally, the autonomous vehicle queue control method is realized by utilizing the designed saturation error feedback control law and the self-adaptive control technology, and the method can effectively inhibit the problem of engine output overload.
Description
Technical Field
The invention belongs to the field of vehicle autonomous driving, and particularly relates to an autonomous vehicle queue control method for effectively inhibiting engine output overload.
Background
The autonomous vehicle queue running has the advantages of effectively improving the road capacity, reducing traffic accidents and the like, and becomes a hot research field of the current automatic highway system. The autonomous vehicle queue control is that vehicles entering a road form a fleet, a certain formation is maintained for automatic driving, and on the basis of acquiring surrounding vehicle motion information through a wireless network and a vehicle-mounted sensor, a control command is generated to realize automatic following of the vehicles to a front vehicle, and the distance between the vehicles is always kept in a safe range. However, under different initial error conditions, especially large initial error conditions, the vehicle queue increases the output demand of the engine in order to achieve the desired target, which may result in an engine output overload phenomenon, i.e., the actual engine output cannot achieve the desired engine output. Meanwhile, the gain of the control law influences the time for achieving the desired target, so that the energy output of the engine in a limited time is influenced. The overload of the engine is easy to form carbon deposition, the emission exceeds the standard, various automobile problems are caused, and the aspects of power, noise, oil consumption and the like of the engine are also influenced. In addition, the overload of the engine causes the increase of the target error, and if the target error is not processed timely, the error accumulation is caused, so that the output demand of the engine is increased, the target error is further increased, a vicious circle is formed, and the control failure of the engine is caused.
At present, the following methods are mainly adopted for the research on the engine overload in the vehicle queue control:
(1) the train control problem is solved by using the thought of multi-agent formation. The method can realize the queue running of a plurality of vehicles and restrain the engine overload phenomenon through the limiting function. However, most of the methods are researched based on a vehicle linearization model, and are not consistent with a real dynamic model of the vehicle. In fact, the dynamics of the vehicle have a highly non-linear behaviour, mainly due to the uncertain running resistance encountered during the running of the vehicle.
(2) The queue control of the vehicle is realized by referring to the idea of information consistency, and the overload phenomenon of the engine is directly inhibited by designing a saturation function. However, this method can only suppress the transient overload phenomenon, and if the overload time is prolonged, if the processing is not timely, the method will cause error accumulation, so that the output demand of the engine will be increased, thereby causing the target error to be further increased, and further forming a vicious circle, resulting in the failure of engine control.
(3) The method solves the problem of autonomous vehicle queue control in a cascading mode, well expands the idea of single vehicle control into vehicle queue control, and can realize vehicle formation control based on a nonlinear model. However, the existing control methods designed by the method all adopt a saturation function to inhibit the phenomenon of engine output overload, which causes the accumulation and amplification of error signals and leads to unsatisfactory control effect.
The following are relevant references retrieved by the applicant:
【1】Yan M，Tang Y，Yang P，et al.Consensus based platoon algorithm for velocity-measurement-absent vehicles with actuator saturation[J].Journal of Advanced Transportation，2017，2017，1-8。
【2】Yan M，Song J，Yang P，et al.Distributed adaptive sliding mode control for vehicle platoon with uncertain driving resistance[C]//2017 36th Chinese Control Conference(CCC).IEEE，2017，9396-9400。
【3】 Guanwei, liangco, high spaciousness, fault-tolerant control based on actuator saturated two-wheeled balance [ J ]. shenyang university of aerospace, 2015, 32 (4): 67-70.
【4】 Tangshumin, octopus, Lipeng, etc., a method for formation of vehicle formations, CN 106600952A [ P ]. 2017.
Disclosure of Invention
In view of the above technical problems of the prior art that an engine output is overloaded and a controller is not effective, the present invention provides an autonomous vehicle queue control method for effectively suppressing an engine output overload.
In order to realize the task, the technical scheme adopts the following technical scheme:
firstly, carrying out dynamic analysis on vehicle motion to establish a vehicle dynamic model, wherein the model is a nonlinear model; then, information transmission among the vehicles is carried out in a V2V (vehicle-to-vehicle) mode, the information is position, speed and acceleration, each vehicle only carries out information interaction with the front and rear vehicles of the vehicle, and a vehicle queue system is further constructed in a cascading mode; secondly, designing a saturation function to limit the output of the engine, generating a new overload error signal, further designing an overload error signal feedback control law, and inhibiting error accumulation caused by overload output of the engine; and finally, the autonomous vehicle queue control method is realized by utilizing the designed overload error signal feedback control law and the self-adaptive control technology, and the method can effectively inhibit the problem of engine output overload.
The method is implemented by the following steps:
(1) establishing a vehicle nonlinear dynamic model;
(2) constructing a vehicle queue; generating a vehicle queue system in a front-rear vehicle cascading mode, carrying out information interaction between vehicles in a V2V mode, wherein the information is position, speed and acceleration, and each vehicle only carries out information interaction with the front vehicle and the rear vehicle; the first vehicle acquires the information of the second vehicle, and the ith vehicle acquires the information of the (i-1) th vehicle and the (i +1) th vehicle;
(3) considering overload errors caused by overload output of an engine, and constructing an overload error signal;
(4) designing an overload error signal feedback control law to inhibit error accumulation caused by overload output of an engine;
(5) the autonomous vehicle queue control method is realized by utilizing the designed overload error signal feedback control law and the self-adaptive control technology, and the method can effectively inhibit the problem of engine output overload.
According to the invention, the specific process for inhibiting the error accumulation caused by the overload output of the engine is that when the output of the engine is overloaded, the target error is increased, and the autonomous vehicle queue control cannot be effectively realized, but the overload error signal feedback control law can ensure that the overload error signal cannot be instantly increased along with the increase of the target error.
The autonomous vehicle formation control method for effectively inhibiting the output overload of the engine can ensure the expected vehicle formation control effect when the engine is overloaded.
Drawings
FIG. 1 is a speed profile of a fleet vehicle;
FIG. 2 is a graph of the position of a queue vehicle;
FIG. 3 is a pitch curve for a fleet vehicle;
FIG. 4 is a plot of the speed tracking error of the fleet vehicles;
FIG. 5 is an engine output curve for a fleet vehicle;
the present invention will be described in further detail with reference to the following drawings and examples.
Detailed Description
The embodiment provides an autonomous vehicle queue control method for effectively inhibiting engine output overload, and the method comprises the steps of firstly, performing dynamic analysis on vehicle motion, considering various resistances suffered by vehicle operation, and establishing an actual vehicle dynamic model which is a nonlinear model; then, information transmission among the vehicles is carried out in a V2V (vehicle-to-vehicle) mode, the information is position, speed and acceleration, each vehicle only carries out information interaction with the front and rear vehicles of the vehicle, and a vehicle queue system is further constructed in a cascading mode; secondly, designing a saturation function to limit the output of the engine, generating a new overload error signal, further designing a new overload error signal feedback control law, and inhibiting error accumulation caused by overload output of the engine; and finally, the autonomous vehicle queue control method is realized by utilizing the designed overload error signal feedback control law and the self-adaptive control technology, and the method can effectively inhibit the problem of engine output overload.
The autonomous vehicle queue control method for effectively inhibiting the engine output overload is mainly characterized in that a new overload error signal feedback control law is designed, the importance of the method is that the error accumulation when the engine output is overloaded is inhibited, the specific characteristic is that when the engine output is overloaded, the target error is increased, the autonomous vehicle queue control cannot be effectively realized, but the overload error signal feedback control law can ensure that the overload error signal cannot be instantly increased along with the increase of the target error.
The specific implementation steps are as follows:
step 1: establishing a vehicle nonlinear dynamic model;
wherein the content of the first and second substances,
representing the differential of the ith vehicle position at time t; v. ofi(t) represents the speed of the ith vehicle at time t;
represents the differential of the speed of the ith vehicle at time t; u (t) represents the control input of the ith vehicle at time t; v. ofiRepresenting the speed of the ith vehicle; w represents the normal load of the wheel, k is the rolling resistance coefficient, CDThe coefficient of air resistance is A, the frontal area is A, the air density is rho, the gravity of the vehicle is G, and the included angle between the ramp and the horizontal plane is alpha.
Step 2: generating a control target signal ei＝ri-ri-1D, wherein eiRepresenting the error between the actual distance and the expected distance of two adjacent vehicles; r isiIndicating position information of the ith vehicle; d is the expected distance between the current vehicle and the vehicle ahead;
step 3: constructing an intermediate sliding mode signal and connecting independent vehicles in a front-back communication mode, and performing information interaction between the vehicles in a V2V mode, wherein the information is position, speed and acceleration, namely a first vehicle acquires information of a second vehicle, and an ith vehicle acquires information of (i-1) th vehicles and (i +1) th vehicles;
wherein s isiIndicating the error e for the current vehicle spacingiA constructed slip form surface; lambda [ alpha ]iIs a filter constant to be designed; siRepresenting the current vehicle slip form surface siWith its front slip-form surface si+1A constructed coupling slip form face; beta is aiRepresenting the coupling relation coefficient of the sliding mode surface of the current vehicle and the sliding mode surface of the front vehicle, and beta for ensuring the stability of the vehicle queuei|<1；
Step 4: defining an overload error signal deltai＝Si-φi(ii) a Wherein phiiObtaining by a designed overload error signal feedback control law;
wherein phi isi(t) represents a saturation error compensation term due to actuator saturation; chi shapeiRepresenting a saturation error feedback coefficient to be designed;
a differential representing a saturation error compensation term for updating phii(t)；ui0(t) maximum or minimum control inputs achievable by the vehicle; u. ofi(t) is an input required for vehicle control;
designing a new overload error signal feedback control law, the importance of which is to suppress the accumulation of errors when the engine output is overloaded, is characterized in particular by (u) when the engine output is overloadedi0(t)-ui(t)) ≠ 0, the vehicle will not be able to reach the desired control target, resulting in a target signal ei＝ri-ri-1D, amplifying. The overload error feedback control law can ensure that the overload error signal does not increase instantaneously with the increase of the target error, and the main reason is that the overload error feedback control law can increase when the target error increases, so that a new target error signal delta is causedi＝Si-φiCan not be increased rapidly, thereby ensuring that the control performance effectively avoids the defects brought by the prior mode.
Step 5: the overload error signal feedback control law is combined with self-adaptive control, so that an autonomous vehicle queue control mode capable of inhibiting the output overload of an engine is realized, namely:
ui(t)＝sat(umin,ui,umax) (4)
wherein the content of the first and second substances,
specific application examples are as follows:
example 1: setting a desired vehicle fleet operating speed trajectory
The control parameters as listed in table 1 were set:
table 1: control parameter
FIG. 1 is a speed profile of a vehicle, all of which can track a desired speed well; FIG. 2 is a graph of the position of the vehicles, as can be seen without a collision between the vehicles and while maintaining safe operation; FIG. 3 is a pitch curve of the vehicles from which it can be seen that the distance between the vehicles converges to a safe desired value; FIG. 4 is a plot of the vehicle speed tracking error, and it can be seen that the speed tracking error converges to 0, achieving the desired effect; FIG. 5 is a graph of engine output for a vehicle, from which it can be seen that the engine output is limited to its effective output range, and when it is overloaded, the engine can operate well and achieve the desired formation effect (FIGS. 1-4).
Claims (1)
1. An autonomous vehicle queue control method for effectively inhibiting engine output overload is characterized in that the method comprises the steps of firstly, carrying out dynamic analysis on vehicle motion, and establishing a vehicle nonlinear dynamic model; then, information transmission among the vehicles is carried out in a V2V (vehicle-to-vehicle) mode, the information is position, speed and acceleration, each vehicle only carries out information interaction with the front and rear vehicles of the vehicle, and a vehicle queue system is further constructed in a cascading mode; secondly, designing a saturation function to limit the output of the engine, generating a new overload error signal, further designing an overload error signal feedback control law, and inhibiting error accumulation caused by overload output of the engine; finally, the control of the autonomous vehicle queue is realized by utilizing the designed overload error signal feedback control law and the self-adaptive control technology, and the method can effectively inhibit the problem of output overload of the engine;
the method is implemented by the following steps:
step 1: establishing a vehicle nonlinear dynamic model;
wherein the content of the first and second substances,
representing the differential of the ith vehicle position at time t; v. ofi(t) represents the speed of the ith vehicle at time t;
represents the differential of the speed of the ith vehicle at time t; u (t) represents the control input of the ith vehicle at time t; v. ofiRepresenting the speed of the ith vehicle; w represents the normal load of the wheel, k is the rolling resistance coefficient, CDThe coefficient is an air resistance coefficient, A represents a windward area, rho represents air density, G represents the gravity of the vehicle, and alpha represents an included angle between a ramp and a horizontal plane;
step 2: generating a control target signal ei＝ri-ri-1-d；
Wherein e isiRepresenting the error between the actual distance and the expected distance of two adjacent vehicles; r isiIndicating position information of the ith vehicle; d is the expected distance between the current vehicle and the vehicle ahead;
step 3: constructing an intermediate sliding mode signal and connecting independent vehicles in a front-back communication mode, and carrying out information transmission between the vehicles in a V2V mode, wherein the information is position, speed and acceleration, namely a first vehicle acquires information of a second vehicle, and an ith vehicle acquires information of (i-1) th and (i +1) th vehicles;
wherein s isiIndicating the error e for the current vehicle spacingiA constructed slip form surface; lambda [ alpha ]iIs a filter constant to be designed; siIndicating the current vehicleSlip form surface siWith its front slip-form surface si+1A constructed coupling slip form face; beta is aiRepresenting the coupling relation coefficient of the sliding mode surface of the current vehicle and the sliding mode surface of the front vehicle, and beta for ensuring the stability of the vehicle queuei|<1；
Step 4: considering overload errors caused by the overload phenomenon of the engine, and constructing an overload error signal; defining an overload error signal deltai＝Si-φi，φiObtaining by a designed overload error signal feedback control law;
wherein phi isi(t) represents a saturation error compensation term due to actuator saturation; chi shapeiRepresenting a saturation error feedback coefficient to be designed;
a differential representing a saturation error compensation term for updating phii(t)；ui0(t) maximum or minimum control inputs achievable by the vehicle; u. ofi(t) is an input required for vehicle control;
designing an overload error signal feedback control law to inhibit error accumulation caused by overload output of an engine;
the overload error signal feedback control law is characterized specifically by when the engine output is overloaded, i.e., (u)i0(t)-ui(t)) ≠ 0, the target signal ei＝ri-ri-1D amplifying, coupling slip-form surface SiBecomes larger and the vehicle will not be able to reach the desired control target by introducing the saturation error compensation term phii(t), overload error signal δiCan be kept constant by means of the error signal deltaiDesigning a controller to avoid actuator saturation;
step 5: combining an overload error signal feedback control law with self-adaptive control to obtain an autonomous vehicle queue control mode for inhibiting the output overload of the engine;
the specific process for inhibiting the error accumulation caused by the overload output of the engine is that when the output of the engine is overloaded, because the expected control effect cannot be achieved, the target error is increased, and the overload error signal feedback control law ensures that the overload error signal cannot be instantly increased along with the increase of the target error.
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| CN105301966B (en) * | 2015-11-27 | 2018-04-03 | 上海无线电设备研究所 | Multirobot cooperative control method based on input-bound formula self-excitation driving |
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