CN109552326B - Vehicle variable speed cruise control method under wireless communication channel attenuation - Google Patents

Vehicle variable speed cruise control method under wireless communication channel attenuation Download PDF

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CN109552326B
CN109552326B CN201811306453.1A CN201811306453A CN109552326B CN 109552326 B CN109552326 B CN 109552326B CN 201811306453 A CN201811306453 A CN 201811306453A CN 109552326 B CN109552326 B CN 109552326B
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vehicle
speed
acceleration
wireless communication
distance
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CN109552326A (en
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宋秀兰
王轲
张昱
何德峰
孟利民
余世明
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Zhejiang University of Technology ZJUT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Controls For Constant Speed Travelling (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

A vehicle variable speed cruise control method under wireless communication channel attenuation comprises the following steps: 1) establishing a three-order dynamic mathematical model for vehicle speed change cruise control; 2) define, define
Figure DDA0001853741770000011
Obtaining a state space model of a vehicle speed change cruise control system; 3) defining a vehicle distance, speed and acceleration control function of a variable speed cruise system of the vehicle at the moment t under the attenuation of a wireless communication channel; 4) given real number ρ1Lambda, solving the real matrix
Figure DDA0001853741770000012
Figure DDA0001853741770000013
And V, satisfying a linear matrix inequality; 5) obtaining the distance difference and the speed difference between the vehicle and the front vehicle and the acceleration of the front vehicle through a wireless communication network, calculating the acceleration, the speed and the distance control quantity of the vehicle in real time, and driving the vehicle to track the motion state of the front vehicle; by repeating the steps, the variable speed cruise control with high real-time performance and accuracy under the condition that the wireless communication channel is attenuated is realized. The invention considers the channel attenuation characteristic of the vehicle in the driving process, thereby better realizing the vehicle variable speed cruise control target.

Description

Vehicle variable speed cruise control method under wireless communication channel attenuation
Technical Field
The invention relates to a vehicle variable speed cruise control method, in particular to a vehicle variable speed cruise control method under the attenuation of a wireless communication channel.
Background
The vehicle speed-changing cruise control is a control method for realizing automatic driving of a vehicle by collecting vehicle running information of a front vehicle and the vehicle through a vehicle-mounted sensor such as a radar, then establishing a vehicle safe distance model, a vehicle speed model and a vehicle acceleration model, inputting the collected vehicle running information of the front vehicle and the vehicle into the model, and controlling the speed and the acceleration of the vehicle. The vehicle variable speed cruise control enables a driver not to be in a tension state all the time, improves the driving safety and comfort of the driver, and can relieve traffic congestion. However, in the control method, because the vehicle-mounted radar is used for collecting the driving information of the front vehicle, certain inaccuracy exists in collecting the driving information of the front vehicle on a curve road section, the detection distance range of the vehicle-mounted sensor is small, and the information of the front vehicle cannot be fed back to the vehicle in time when the vehicle runs at a high speed. With the continuous development of the car networking technology, the real-time sharing of the vehicle running information between the cars becomes a reality, on the basis of the original vehicle cruise control, the research is carried out that the front car and the car are connected through a heterogeneous wireless network, the wireless communication network receives the running information of the front car on one hand, and sends the running information of the car to the front car on the other hand, and the car are connected through a wireless network to realize the stable cruise of the car on the road.
The control mode of transmitting the vehicle running information through wireless communication and further controlling the vehicle must ensure the safety and reliability of a wireless communication network, and the vehicle can be controlled under a correct control strategy only when the vehicle receives correct information in the running process, so that safety accidents are avoided. The attenuation of the wireless communication channel is an important factor influencing data transmission between vehicles, the attenuation of the wireless communication channel influences the control performance of the system, particularly the stability of the system, and therefore the attenuation of the wireless channel needs to be considered in the control method. Through the search of the documents of the vehicle speed change control method under the existing wireless communication, the speed change cruise control under the condition of vehicle wireless communication channel attenuation mainly comprises the following steps: PID controller, H∞And controlling and blurring the sliding film. In which PID control can generate violent shake under the attenuation of channel, which is comfortable and comfortable for following vehicleThe safety has a great influence; fuzzy slip film control is a control method combining slip film structure control and fuzzy structure control, and compared with a PID (proportion integration differentiation) control method, the control method has the advantages that the jitter is improved to a certain extent, but the simulation result, such as the change of the speed, is not smooth; h∞The control model is relatively complex and the calculation amount is relatively large. Therefore, despite the efforts of research on variable speed cruise control under attenuation of wireless communication channels, many scholars still have conducted intensive research on this problem, so that the control method meets the requirements of more complex environments and more accurate vehicle control.
Disclosure of Invention
In order to solve the problem of vehicle variable speed cruise control caused by channel attenuation in a wireless communication environment, the invention provides a vehicle variable speed cruise control method under the condition of wireless communication channel attenuation.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a vehicle cruise control at wireless communication channel attenuation, said control method comprising the steps of:
1) establishing a three-order dynamic mathematical model for vehicle speed change cruise control, and referring to formula (1):
Figure BDA0001853741750000021
wherein the variable t is time, v0(t)、a0(t) represents the speed and acceleration of the preceding vehicle; v. of1(t)、a1(t) represents the speed and acceleration of the host vehicle;
Figure BDA0001853741750000022
respectively representing the speed difference and the acceleration difference of the front vehicle and the rear vehicle;
Figure BDA0001853741750000023
indicating engineA time constant of (d);
Figure BDA0001853741750000024
is the distance error d of the vehicle1(t) derivative with respect to time and d1(t)＝d0+h1v1，d0Is the minimum distance, h, between the front and rear vehicles1Is the time reaction interval; u. of1(t) a distance difference, a speed difference and a vehicle acceleration control function between the vehicle and the front vehicle are shown;
2) define, define
Figure BDA0001853741750000025
β therein1、
Figure BDA0001853741750000026
a1Respectively representing the distance difference, the speed difference and the rear vehicle acceleration of two vehicles, and obtaining a state space model of the vehicle speed change cruise control system by the formula (1), referring to the formula (2):
Figure BDA0001853741750000027
wherein
Figure BDA0001853741750000028
And
Figure BDA0001853741750000029
3) defining a vehicle distance, speed and acceleration control function of a variable speed cruise system of the vehicle at the time t under the attenuation of a wireless communication channel, and referring to formula (3):
Figure BDA0001853741750000031
wherein, K1＝[k1k2k3]To control the gain vector, k1、k2And k3Gain factor, Deltav, representing a control function1The speed difference between the front and rear vehicles, rho2Representing attenuation coefficient of wireless channel；
4) Given real number ρ1Lambda, solving the real matrix
Figure BDA0001853741750000032
And V, satisfying the linear matrix inequality, see (4):
Figure BDA0001853741750000033
wherein, the matrix
Figure BDA0001853741750000034
Figure BDA0001853741750000035
Then the gain vector is controlled
Figure BDA0001853741750000036
5) Calculating the acceleration, speed and distance control quantity of the vehicle in real time through the distance difference, speed difference and acceleration of the vehicle before obtained through a wireless communication network, and driving the vehicle to track the motion state of the vehicle before; and in the next control period, the distance difference, the speed difference and the acceleration of the front vehicle are measured again on line, and the variable speed cruise control with high real-time performance and accuracy under the attenuation of a wireless communication channel is realized in this way.
The technical conception of the invention is as follows: aiming at the requirements of the field of vehicle speed change cruise control on the accuracy and the real-time performance of vehicle safety distance, speed and acceleration control, a three-order time dynamic model of a vehicle under wireless channel attenuation is established, a controller for vehicle speed change cruise under wireless communication channel attenuation is designed, the safety distance, the acceleration and the speed control quantity of the vehicle are calculated in real time, the vehicle is controlled accurately in real time, and the vehicle speed change cruise under the wireless communication channel attenuation is realized.
The main execution part of the invention is executed on the vehicle automatic driving control computer, and the execution process is mainly divided into three stages:
1) and setting parameters: bag (bag)Setting a safe distance β for vehicle transmission cruising, including model parameters and controller parameters1Constant of engine
Figure BDA0001853741750000037
Time reaction interval h1Attenuation coefficient of a wireless communication channel ρ2. Real number parameters lambda and rho adjustable by controller1After the parameters are set, the data are stored in the computer.
2) And a debugging stage: debugging is carried out according to the input actual adjustable parameters, and the control effect of a cruise system of the vehicle on the vehicle under the condition of channel attenuation is observed, so that a group of better adjustable parameters lambda and rho is determined1。
3) And online operation: the vehicle cruise control system is started, the speed, the position and the acceleration of the front vehicle are transmitted to the cruise control system of the vehicle through the wireless heterogeneous network, the distance difference and the speed difference between the two vehicles are calculated, then the speed and the acceleration control quantity of the cruise system of the vehicle are calculated, the vehicle is driven to track the running state of the front vehicle, and the variable speed cruise of the vehicle under the channel attenuation is ensured.
The invention has the following beneficial effects: 1. the adjustable parameters of the vehicle speed-changing cruise control system are less, and the operation is more convenient. 2. The attenuation of a wireless communication channel is considered, the error of the vehicle variable speed cruise control system is reduced, the accuracy and the safety of variable speed cruise are guaranteed, and meanwhile the control system can be used in a plurality of complex scenes.
Drawings
Fig. 1 is a safety inter-vehicle distance difference change curve of a vehicle and a preceding vehicle in variable speed cruise control of the vehicle under wireless channel attenuation.
Fig. 2 is a vehicle acceleration variation curve in variable speed cruise control of the vehicle under wireless channel attenuation.
Fig. 3 shows the vehicle control input amount in the variable speed cruise control of the vehicle under the wireless channel attenuation.
FIG. 4 is a curve showing the variation of the distance error between the vehicle and the front vehicle during the variable speed cruising of the vehicle under the attenuation of the wireless channel.
Detailed Description
The method of the present invention is described in further detail below with reference to the accompanying drawings.
Referring to fig. 1 to 4, a cruise control method for a vehicle with wireless channel attenuation, the control method comprising the steps of:
1) establishing a three-order state space mathematical model of vehicle speed change cruise control, and referring to a formula (1);
Figure BDA0001853741750000041
wherein the variable t is time, v0(t)、a0(t) represents the speed and acceleration of the preceding vehicle; v. of1(t)、a1(t) represents the speed and acceleration of the host vehicle;
Figure BDA0001853741750000042
respectively representing the speed difference and the acceleration difference of the front vehicle and the rear vehicle;
Figure BDA0001853741750000043
representing a time constant of the engine;
Figure BDA0001853741750000044
is the distance error d of the vehicle1(t) derivative with respect to time and d1(t)＝d0+h1v1，d0Minimum distance, h, between front and rear vehicles1Is the time reaction interval; u. of1(t) a distance difference, a speed difference and a vehicle acceleration control function between the vehicle and the front vehicle are shown;
2) introduction of
Figure BDA0001853741750000045
β therein1、
Figure BDA0001853741750000046
a1Respectively representing the distance difference, speed difference and acceleration of the vehicle, and obtaining a vehicle speed change cruise control model from (1)
Figure BDA0001853741750000051
Wherein
Figure BDA0001853741750000052
And
Figure BDA0001853741750000053
3) defining the control functions of the vehicle distance, the speed and the acceleration of the variable speed cruise system of the vehicle at the time t under the attenuation of the wireless communication channel
Figure BDA0001853741750000054
Wherein K1＝[k1k2k3],k1，k2，k3Gain factor, p, representing a control function2Representing the attenuation coefficient, av, of the radio channel1The speed difference between the front and rear vehicles, a0(t) represents the acceleration of the first vehicle. The control gain factor is calculated as follows;
4) given real number ρ1Lambda, solving the real matrix
Figure BDA0001853741750000055
And V, satisfying the linear matrix inequality, see (4):
Figure BDA0001853741750000056
wherein, the matrix
Figure BDA0001853741750000057
Figure BDA0001853741750000058
Then the gain vector is controlled
Figure BDA0001853741750000059
5) Obtaining the distance difference and the speed difference between the vehicle and the front vehicle and the acceleration of the front vehicle through a wireless communication network, calculating the acceleration, the speed and the distance control quantity of the vehicle in real time, and driving the vehicle to track the motion state of the front vehicle; and in the next control period, the distance difference, the speed difference and the acceleration of the front vehicle and the vehicle are measured on line again, and the steps are repeated in this way, so that the variable speed cruise control with high real-time performance and accuracy under the attenuation of a wireless communication channel of the vehicle is realized.
The embodiment is a control process of vehicle speed change cruise under wireless channel attenuation, and the operation process is as follows:
1. input λ ═ 0.8, ρ10.25, channel attenuation p20.97, the engine constant of the vehicle
Figure BDA00018537417500000510
Time reaction interval h12s, front vehicle 0 to 6 seconds acceleration a0(t)＝1m/s2After a0(t)＝0m/s2Minimum distance d between two vehicles0＝8m。
2. Calculating the control coefficient K of the automobile speed change cruise system through the programmed calculation program1Substituting the input parameters into (4) to obtain the matrix inequality
Figure BDA0001853741750000061
V＝[0.1186 0.0510 0.0667]
Then, the control coefficient K is calculated through (4)1＝[0.6406 0.3661 -0.0049]。
3. After the control coefficient is obtained, the distance difference and the speed difference between the vehicle and the front vehicle and the acceleration of the front vehicle are obtained through a wireless communication network, the acceleration, the speed and the distance control quantity of the vehicle are calculated in real time, and the vehicle is driven to track the motion state of the front vehicle; and in the next control period, the distance difference, the speed difference and the acceleration of the front vehicle are measured again on line, and the variable speed cruise control with high real-time performance and accuracy under the attenuation of a wireless communication channel is realized in this way.
The actual control effect is shown in fig. 1, fig. 2, fig. 3 and fig. 4, fig. 1 is an actual inter-vehicle distance variation curve of the vehicle in the variable speed cruise control under the attenuation of the wireless communication channel; FIG. 2 is a graph showing the acceleration variation of the vehicle under the wireless communication channel attenuation in the cruise control; fig. 3 is a variation curve of the variable speed cruise control input amount of the vehicle under the attenuation of the wireless communication channel, and fig. 4 is a variation curve of the distance error between the vehicle and the front vehicle in the variable speed cruise under the attenuation of the wireless communication channel.
The foregoing illustrates the superior vehicle cruise control performance with wireless communication channel attenuation exhibited by one embodiment of the present invention. It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that any modifications made within the spirit of the invention and the scope of the appended claims fall within the scope of the invention.

Claims (1)

1. A vehicle cruise control method under attenuation of a wireless communication channel, the control method comprising the steps of:
1) establishing a three-order dynamic mathematical model for vehicle speed change cruise control, and referring to formula (1):
Figure FDA0002453285870000011
wherein the variable t is time, v0(t)、a0(t) represents the speed and acceleration of the preceding vehicle; v. of1(t)、a1(t) represents the speed and acceleration of the host vehicle;
Figure FDA0002453285870000012
respectively representing the speed difference and the acceleration difference of the front vehicle and the rear vehicle;
Figure FDA0002453285870000013
representing a time constant of the engine;
Figure FDA0002453285870000014
is the distance error d of the vehicle1(t) derivative with respect to time and d1(t)＝d0+h1v1，d0Is the minimum distance, h, between the front and rear vehicles1Is the time reaction interval; u. of1(t) a distance difference, a speed difference and a vehicle acceleration control function between the vehicle and the front vehicle are shown;
2) define, define
Figure FDA0002453285870000015
β therein1、
Figure FDA0002453285870000016
a1Respectively representing the distance difference, the speed difference and the acceleration of the vehicle, and obtaining a state space model of the vehicle speed change cruise control system by the formula (1), referring to the formula (2):
Figure FDA0002453285870000017
wherein
Figure FDA0002453285870000018
And
Figure FDA0002453285870000019
3) defining a vehicle distance, speed and acceleration control function of a variable speed cruise system of the vehicle at the time t under the attenuation of a wireless communication channel, and referring to formula (3):
Figure FDA00024532858700000110
wherein, K1＝[k1k2k3]To control the gain vector, k1、k2And k3Gain factor, Deltav, representing a control function1The speed difference between the front and rear vehicles, rho2Representing an attenuation coefficient of the wireless channel;
4) given real number ρ1Lambda, solving the real matrix
Figure FDA00024532858700000111
And V, satisfying the linear matrix inequality, see (4):
Figure FDA00024532858700000112
wherein, the matrix
Figure FDA00024532858700000113
Figure FDA00024532858700000114
Then the gain vector is controlled
Figure FDA00024532858700000115
5) Obtaining the distance difference and the speed difference between the vehicle and the front vehicle and the acceleration of the front vehicle through a wireless communication network, calculating the acceleration, the speed and the distance control quantity of the vehicle in real time, and driving the vehicle to track the motion state of the front vehicle; and in the next control period, the distance difference, the speed difference and the acceleration of the front vehicle are measured again on line, and the variable speed cruise control with high real-time performance and accuracy under the attenuation of a wireless communication channel is realized in this way.
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