CN109889564B - Centralized group cooperative control method for networked automobiles - Google Patents
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Abstract
The invention relates to a centralized group cooperative control method for networked automobiles, and belongs to the technical field of intelligent networked automobile control. The method comprises the steps of carrying out topology design on parallel computing nodes, sending information to a cloud platform by each intelligent networking automobile, carrying out centralized modeling on a cooperative control problem on the cloud platform, introducing a consistency variable to construct the problem into a consistency optimization problem, decoupling the problem by using an alternative direction multiplier method, updating the consistency variable, an original variable and a dual variable in parallel until a set termination condition is met, and then sending a control variable obtained by computing to the intelligent networking automobiles for execution. The method decouples the centralized control problem by adopting an alternating direction multiplier method, realizes parallel computation, greatly improves the computation efficiency by utilizing the computation nodes, and can achieve higher precision under fewer iteration steps, thereby achieving better control effect.
Description
Technical Field
The invention relates to a centralized group cooperative control method for networked automobiles, and belongs to the technical field of intelligent networked automobile control.
Technical Field
The intelligent networking automobile has the potential advantages of enhancing safety, improving economy and increasing traffic volume, and is a research hotspot at home and abroad as a next generation intelligent traffic technology for solving the problems of safety, energy consumption, traffic jam and the like in traffic. According to the definition of a Chinese intelligent networked automobile technical route map, an intelligent networked automobile is a new-generation automobile which is provided with advanced vehicle-mounted sensors, controllers, actuators and other devices, integrates modern communication and network technology, realizes intelligent information exchange and sharing between vehicles and people, vehicles, roads, clouds and the like (V2X), has the functions of complex environment perception, intelligent decision, cooperative control and the like, can realize safe, efficient, comfortable and energy-saving driving, and can finally realize the operation of people instead of the new-generation automobile. On the basis of advanced sensors (such as laser radar, ultrasonic radar, cameras and the like), the intelligent internet automobile has a vehicle networking communication technology (V2X) comprising vehicle-to-vehicle communication (V2V), vehicle-to-infrastructure communication (V2I) and vehicle-to-pedestrian communication (V2P), and has two perception means of an autonomous type and an internet type. The intelligent decision-making and formation cooperative control of the group among multiple vehicles can be realized, so that a more energy-saving, safe and efficient traffic environment is realized, and the method is one of solutions for improving road safety, relieving traffic congestion and reducing environmental pollution.
The existing cooperative control method for the intelligent networked automobiles is mainly divided into a distributed type and a centralized type, wherein the distributed cooperative control method is mainly applied to the running of in-line type automobiles, and the distributed cooperative control problem is constructed by designing communication topological structures in queues and respective cost functions in a distributed manner, so that the split type is distributed to each intelligent networked automobile for solving, the solution efficiency is high, but the method can not ensure the global optimality because the optimization target of each automobile is independently considered in the problem construction; the other cooperative control method is that a centralized control problem is constructed by considering the state quantities of all controlled vehicles, and then the centralized optimization problem is solved through the existing solver.
However, since the centralized control method considers the state spaces of all the controlled vehicles at the same time, the calculation amount will also increase with the increase of the number of the vehicles, so that the solving time becomes longer, and the cooperative control of the vehicles requires better real-time calculation capability, so the method has no good expansibility for the controlled vehicles, and the application of the method is limited.
Disclosure of Invention
The invention aims to provide a centralized group cooperative control method of a networked automobile, which aims at solving the problem that the calculation load of centralized control for achieving global optimization in intelligent networked automobile cooperative control is increased along with the number of controlled vehicles, uses an alternative direction multiplier method to decouple and distribute the centralized optimization control problem, designs a cloud platform control network structure, and realizes parallel calculation and solution, thereby improving the calculation efficiency and achieving better calculation real-time performance.
The invention provides a centralized group cooperative control method of a networked automobile, which comprises the following steps:
(1) establishing spatial position relation between controlled networked automobiles
Wherein
A collection of controlled networked automobiles is represented,
n represents the number of controlled networked automobiles, and represents a set of position interaction relations between the controlled networked automobiles, { 1., M }, wherein M represents the number of position interaction relations, and the set of controlled networked automobiles having position interaction relations with the controlled networked automobiles i is set as
Wherein i and j are elements in the set of controlled networked automobiles respectively;
(2) designing a control network consisting of nodes according to the spatial position relation of the controlled networked automobiles in the step (1), wherein the nodes comprise a main node, a local node and a connecting node, and the control network is used for controlling the networked automobiles according to the spatial position relationPositional relationship
The distribution of the computing nodes in the control network is carried out, wherein the number of the local nodes is the same as that of the controlled networked automobiles, and the local nodes of the control network are respectively enabled to be distributed
Controlled networked automobile in spatial position relation
One-to-one correspondence, the number of the connecting nodes is the same as the number of the position interaction relations between the controlled networked automobiles, and the connecting nodes of the control network are enabled to be in
Corresponding to a position interaction relation in the spatial position relation; in the control network, local nodes corresponding to controlled networked automobiles with position interaction relation are connected through connecting nodes, a main node is respectively distributed for the local nodes and all the connecting nodes connected with the local nodes, and the main nodes are used in a gathering way
Represents;
(3) establishing an optimization function of centralized group cooperative control of the networked automobiles, wherein the optimization function comprises an objective function and a constraint condition, the optimization objective is to minimize the deviation of the vehicle distance from a preset track, and the expression of the optimization function is as follows:
satisfies the following conditions:
wherein T is the control time, T is the control time interval, hi(xi，ui) For controlled networked vehicles, objective function, xi，uiRespectively the state quantity and the control quantity of the controlled networked automobile,
for a dynamic or kinematic model of a controlled networked automobile,
and
respectively representing the constraint conditions of the running and the position interaction of the controlled networked automobile;
(4) performing decoupling distribution and parallel calculation on the optimization function in the step (3) on the control network established in the step (1) by using an alternative direction multiplier method (ADMM for short) to realize centralized group cooperative control on the networked automobiles, wherein the specific process is as follows:
(4-1) introducing a consistency variable zvAnd (4) converting the optimization function of the step (3) into a consistency optimization form as follows:
satisfies the following conditions: u. ofv＝zv，
v∈ν，e∈(v)，
Wherein the content of the first and second substances,
and
respectively is xvAnd uvA replication value assigned on a connection node, (v) a set of positional interactions representing a connection with a controlled networked automobile v,
respectively representing the state quantity x of the controlled networked automobilevControl amount uvAnd corresponding copied value
The value range of (a) is limited, namely:
(4-2) Using dual variable λ in augmented Lagrange formv，
And a penalty factor rho, the consistency optimization form of the step (4-1) is rewritten into an augmented Lagrange form
The following were used:
wherein v (e) represents a controlled networked automobile set connected with a position interaction relation e,
(4-3) iterative solving of the augmented Lagrange form problem of the step (4-2) by using an alternative direction multiplier method, and sequential updating of the consistency variable zvOriginal variable xv，uv，
And a dual variable λv，
Setting the iteration number k to be 1 during initialization:
the iterative solution process has two methods, wherein the first method is a synchronous updating method and comprises the following steps:
(4-3-1) in master node pair consistency variable zvUpdating, and transmitting the updated consistency variable to the local node and the connecting node; the update formula is as follows:
(4-3-2) the local node and the connection node respectively carry out comparison on the original variable x according to the consistency variable updated in the step (4-3-1)v，uv，
Updating is carried out, and an updating formula is as follows:
wherein, argminy(f (y)) means taking y such that f (y) reaches a minimum value;
(4-3-3) the local node and the connection node respectively pair dual variable lambda according to the consistency variable updated in the step (4-3-1) and the original variable updated in the step (4-3-2)v，
Updating is carried out, and an updating formula is as follows:
all local nodes and connecting nodes transmit the updated original variable and the updated dual variable to the main node;
(4-3-4) setting an original threshold ∈ according to the convergence judgment condition of the alternative direction multiplier method for solving the augmented Lagrange form problempriAnd dual threshold ∈dualCalculating the original radius rk+1＝||uk+1-zk+1||2Dual radius sk+1＝ρ||zk+1-zk||2If r isk+1≤∈priAnd s isk+1≤∈dualThen will be
As the control quantity of the controlled networked automobile, the centralized group cooperative control of the networked automobile is realized, and if r is greater than r, the centralized group cooperative control of the networked automobile is realizedk+1＞∈priOr sk+1＞∈dualAnd then returning to the step (4-3-1);
the second asynchronous updating party is that the host node, the local node and the connecting node are respectively updated, and the method comprises the following steps:
the following updates are made on the master node:
(4-3-5) the master node receives data from the local node and the connection node, including the original variable xv，uv，
And a dual variable λv，
And updating the received data:
wherein the content of the first and second substances,
and
representing the original variables and the dual variables received from the local node and the connecting node respectively,
a set of local nodes and connecting nodes representing information received by the master node;
(4-3-6) for the consistency variable zvUpdating is carried out, and an updating formula is as follows:
(4-3-7) the master node transferring the updated consistency variable to the local node and the connection node connected with the master node;
the following updates are made at the local node and the connecting node:
(4-3-8) the local node and the connection node respectively acquire the updated consistency variable from the main node;
(4-3-9) the local node and the connection node respectively update the original variable according to the updated consistency variable and the formula in the step (4-3-2), and update the dual variable according to the step (4-3-3);
(4-3-10) after the updating is finished, the local node and the connection node respectively transmit the updated original variable and the updated dual variable to the master node;
(4-3-11) setting an original threshold ∈ according to the convergence judgment condition of the alternative direction multiplier method for solving the augmented Lagrange form problempriAnd dual threshold ∈dualCalculating the original radius rk+1＝||uk+1-zk+1||2Dual radius sk+1＝ρ||zk+1-zk||2If r isk+1≤∈priAnd s isk+1≤∈dualThen will be
As the control quantity of the controlled networked automobile, the centralized group cooperative control of the networked automobile is realized, and if r is greater than r, the centralized group cooperative control of the networked automobile is realizedk+1＞∈priOr sk+1＞∈dualAnd returning to the step (4-3-8).
The centralized group cooperative control method for the networked automobile has the advantages that:
the centralized group cooperative control method of the networked automobile decouples the centralized optimization control problem on the basis of constructing the central problem of intelligent networked automobile cooperative control, and the calculation of each step can be respectively carried out on each calculation node in the synchronous and asynchronous updating steps, thereby realizing the parallelization of problem solution. Compared with a centralized solving mode, the method provided by the invention effectively improves the calculation solving efficiency. Particularly, when the number of the computing nodes is large enough, the computing complexity of the method is irrelevant to the number of the vehicles, so that the method is more suitable for cooperative control of large-scale intelligent networked automobiles. The centralized group cooperative control method of the networked automobile improves the control efficiency, realizes real-time control and improves the driving safety.
Drawings
Fig. 1 is a flow chart of the centralized group cooperative control method of the networked automobile of the present invention.
Fig. 2 is a schematic diagram of a control network of a master node, a local node and a connecting node involved in the method of the present invention.
FIG. 3 is a schematic diagram of the consistent variable introduction process involved in the method of the present invention.
In fig. 2, 1 is a master node, 2 is a local node, and 3 and 4 are connection nodes connected to the local node, respectively.
Detailed Description
The flow chart of the centralized group cooperative control method of the networked automobile provided by the invention is shown in figure 1, and the method comprises the following steps:
(1) establishing spatial position relation between controlled networked automobiles
Wherein
A collection of controlled networked automobiles is represented,
n represents the number of the controlled networked automobiles, and represents a set of position interaction relations between the controlled networked automobiles, { 1., M), wherein M represents the number of the position interaction relations, and the set of the controlled networked automobiles having the position interaction relations with the controlled networked automobiles i is set as
Wherein i and j are elements in the set of controlled networked automobiles respectively;
(2) designing a control network consisting of nodes according to the spatial position relationship of the controlled networked automobiles in the step (1), wherein the nodes comprise a main node, a local node and a connecting node, as shown in figure 2, and the control network is designed according to the spatial position relationship
The distribution of the computing nodes in the control network is carried out, wherein the number of the local nodes is the same as that of the controlled networked automobiles, and the local nodes of the control network are respectively enabled to be distributed
Controlled networked automobile in spatial position relation
One-to-one correspondence, the number of the connecting nodes is the same as the number of the position interaction relations between the controlled networked automobiles, and the connecting nodes of the control network are enabled to be in
Corresponding to a position interaction relation in the spatial position relation; in the control network, local nodes corresponding to controlled networked automobiles with position interaction relation are connected through connecting nodes, a main node is respectively distributed for the local nodes and all the connecting nodes connected with the local nodes, and the main nodes are used in a gathering way
As shown in fig. 2, 3 is a local node, 1 and 4 are connection nodes connected to the local node 3, respectively, 2 is a master node allocated to the local node 3 and the connection nodes 1 and 4, and the master node 2 is configured to coordinate information transfer between the local node and the connection nodes;
(3) establishing an optimization function of centralized group cooperative control of the networked automobiles, wherein the optimization function comprises an objective function and a constraint condition, the optimization objective is to minimize the deviation of the vehicle distance from a preset track, and the expression of the optimization function is as follows:
satisfies the following conditions:
wherein T is the control time, T is the control time interval, hi(xi，ui) For controlled networked vehicles, objective function, xi，uiRespectively are the state quantity and the control quantity of the controlled networked automobile, the state quantity comprises the position, the course angle and the speed of the controlled networked automobile, the control quantity comprises the acceleration, the steering wheel angle and the like of the controlled networked automobile,
for a dynamic or kinematic model of a controlled networked automobile, such as a two-degree-of-freedom bicycle model,
and
constraint conditions respectively representing the running and position interaction of the controlled networked automobile, such as the maximum running speed, the maximum acceleration, the distance between the automobiles and the like;
(4) performing decoupling distribution and parallel calculation on the optimization function in the step (3) on the control network established in the step (1) by using an alternative direction multiplier method (ADMM for short) to realize centralized group cooperative control on the networked automobiles, wherein the specific process is as follows:
(4-1) introducing a consistency variable zvAnd (4) converting the optimization function of the step (3) into a consistency optimization form as shown in FIG. 3:
satisfies the following conditions: u. ofv＝zv，
Wherein the content of the first and second substances,
and
respectively is xvAnd uvThe duplicate value assigned on the connecting node,
respectively representing the state quantity x of the controlled networked automobilevControl amount uvAnd corresponding copied value
The value range of (a) is limited, namely:
(4-2) Using dual variable λ in augmented Lagrange formv，
And a penalty factor rho, the consistency optimization form of the step (4-1) is rewritten into an augmented Lagrange form
The following were used:
(4-3) iterative solving of the augmented Lagrange form problem of the step (4-2) by using an alternative direction multiplier method, and sequential updating of the consistency variable zυ、Original variable xv，uv，
And a dual variable λv，
Setting the iteration number k to be 1 during initialization:
the iterative solution process has two methods, wherein the first method is a synchronous updating method and comprises the following steps:
(4-3-1) in master node pair consistency variable zvUpdating, and transmitting the updated consistency variable to the local node and the connecting node; the update formula is as follows:
(4-3-2) the local node and the connection node respectively carry out comparison on the original variable x according to the consistency variable updated in the step (4-3-1)v，uv，
Updating is carried out, and an updating formula is as follows:
wherein, argminy(f (y)) means taking y such that f (y) reaches a minimum value;
(4-3-3) the local node and the connection node respectively pair dual variable lambda according to the consistency variable updated in the step (4-3-1) and the original variable updated in the step (4-3-2)v，
Updating is carried out, and an updating formula is as follows:
all local nodes and connecting nodes transmit the updated original variable and the updated dual variable to the main node;
(4-3-4) setting an original threshold ∈ according to the convergence judgment condition of the alternative direction multiplier method for solving the augmented Lagrange form problempriAnd dual threshold ∈dualCalculating the original radius rk+1＝||uk+1-zk+1||2Dual radius sk+1＝ρ||zk+1-zk||2If r isk+1≤∈priAnd s isk+1≤∈dualThen will be
As the control quantity of the controlled networked automobile, the centralized group cooperative control of the networked automobile is realized, and if r is greater than r, the centralized group cooperative control of the networked automobile is realizedk+1＞∈priOr sk+1＞∈dualAnd then returning to the step (4-3-1);
the second asynchronous updating method is that the host node, the local nodes and the connecting nodes are respectively updated, each local node and each connecting node independently update variables and transmit information without waiting for other nodes, and comprises the following steps:
the following updates are made on the master node:
(4-3-5) the master node receives data from the local node and the connection node, including the original variable xv，uv，
And a dual variable λv，
And updating the received data:
wherein the content of the first and second substances,
and
representing the original variables and the dual variables received from the local node and the connecting node respectively,
a set of local nodes and connecting nodes representing information received by the master node;
(4-3-6) for the consistency variable zvUpdating is carried out, and an updating formula is as follows:
(4-3-7) the master node transferring the updated consistency variable to the local node and the connection node connected with the master node;
the following updates are made at the local node and the connecting node:
(4-3-8) the local node and the connection node respectively acquire the updated consistency variable from the main node;
(4-3-9) the local node and the connection node respectively update the original variable according to the updated consistency variable and the formula in the step (4-3-2), and update the dual variable according to the step (4-3-3);
(4-3-10) after the updating is finished, the local node and the connection node respectively transmit the updated original variable and the updated dual variable to the master node;
(4-3-11) setting an original threshold ∈ according to the convergence judgment condition of the alternative direction multiplier method for solving the augmented Lagrange form problempriAnd dual threshold ∈dualCalculating the original radius rk+1＝||uk+1-zk+1||2Dual radius sk+1＝ρ||zk+1-zk||2If r isk+1≤∈priAnd s isk+1≤∈dualThen will be
As the control quantity of the controlled networked automobile, the centralized group cooperative control of the networked automobile is realized, and if r is greater than r, the centralized group cooperative control of the networked automobile is realizedk+1＞∈priOr sk+1＞∈dualAnd returning to the step (4-3-8).
Claims (1)
1. A centralized group cooperative control method of a networked automobile is characterized by comprising the following steps:
(1) establishing spatial position relation between controlled networked automobiles
Wherein
A collection of controlled networked automobiles is represented,
n represents the number of controlled networked automobiles, and represents a set of position interaction relations between the controlled networked automobiles, { 1., M }, wherein M represents the number of position interaction relations, and the set of controlled networked automobiles having position interaction relations with the controlled networked automobiles i is set as
Wherein i and j are elements in the set of controlled networked automobiles respectively;
(2) designing a control network consisting of nodes according to the spatial position relation of the controlled networked automobiles in the step (1), wherein the nodes comprise a main node, a local node and a connecting node, and the control network is used for controlling the networked automobiles according to the spatial position relation
The distribution of the computing nodes in the control network is carried out, wherein the number of the local nodes is the same as that of the controlled networked automobiles, and the local nodes of the control network are respectively enabled to be distributed
Controlled networked automobile in spatial position relation
One-to-one correspondence, the number of the connecting nodes is the same as the number of the position interaction relations between the controlled networked automobiles, and the connecting nodes of the control network are enabled to be in
Corresponding to a set of position interaction relations between controlled networked automobiles; in the control network, local nodes corresponding to controlled networked automobiles with position interaction relation are connected through connecting nodes, a main node is respectively distributed for the local nodes and all the connecting nodes connected with the local nodes, and the main nodes are used in a gathering way
Represents;
(3) establishing an optimization function of centralized group cooperative control of the networked automobiles, wherein the optimization function comprises an objective function and a constraint condition, the optimization objective is to minimize the deviation of the vehicle distance from a preset track, and the expression of the optimization function is as follows:
satisfies the following conditions:
wherein T is the control time, T is the control time interval, hi(xi，ui) For controlled networked vehicles, objective function, xi，uiRespectively the state quantity and the control quantity of the controlled networked automobile,
for a dynamic or kinematic model of a controlled networked automobile,
and
respectively representing the constraint conditions of the running and the position interaction of the controlled networked automobile;
(4) performing decoupling distribution and parallel calculation on the optimization function in the step (3) on the control network established in the step (1) by using an alternative direction multiplier method (ADMM for short) to realize centralized group cooperative control on the networked automobiles, wherein the specific process is as follows:
(4-1) introducing a consistency variable zvAnd (4) converting the optimization function of the step (3) into a consistency optimization form as follows:
satisfies the following conditions: u. ofv＝zv，
Wherein the content of the first and second substances,
and
respectively is xvAnd uvThe duplicate value assigned on the connecting node,
respectively representing the state quantity x of the controlled networked automobilevControl amount uvAnd corresponding copied value
The value range of (a) is limited, namely:
(4-2) Using dual variable λ in augmented Lagrange formv，
And a penalty factor rho, the consistency optimization form of the step (4-1) is rewritten into an augmented Lagrange form
The following were used:
(4-3) iterative solving of the augmented Lagrange form problem of the step (4-2) by using an alternative direction multiplier method, and sequential updating of the consistency variable zvOriginal variable xv，uv，
And a dual variable λv，
Setting the iteration number k to be 1 during initialization:
the iterative solution process has two methods, wherein the first method is a synchronous updating method and comprises the following steps:
(4-3-1) in master node pair consistency variable zvUpdating, and transmitting the updated consistency variable to the local node and the connecting node; the update formula is as follows:
(4-3-2) the local node and the connection node respectively carry out comparison on the original variable x according to the consistency variable updated in the step (4-3-1)v，uv，
Updating is carried out, and an updating formula is as follows:
wherein, argminy(f (y)) means taking y such that f (y) reaches a minimum value;
(4-3-3) the local node and the connection node respectively pair dual variable lambda according to the consistency variable updated in the step (4-3-1) and the original variable updated in the step (4-3-2)v，
Updating is carried out, and an updating formula is as follows:
all local nodes and connecting nodes transmit the updated original variable and the updated dual variable to the main node;
(4-3-4) setting an original threshold ∈ according to the convergence judgment condition of the alternative direction multiplier method for solving the augmented Lagrange form problempriAnd dual threshold ∈dualCalculating the original radius rk+1＝||uk+1-zk+1||2Dual radius sk+1＝ρ||zk+1-zk||2If r isk+1≤∈priAnd s isk+1≤∈dualThen will be
As the control quantity of the controlled networked automobile, the centralized group cooperative control of the networked automobile is realized, and if r is greater than r, the centralized group cooperative control of the networked automobile is realizedk+1＞∈priOr sk+1＞∈dualAnd then returning to the step (4-3-1);
the second asynchronous updating party is that the host node, the local node and the connecting node are respectively updated, and the method comprises the following steps:
the following updates are made on the master node:
(4-3-5) the master node receives data from the local node and the connection node, including the original variable xv，uv，
And a dual variable λv，
And updating the received data:
wherein the content of the first and second substances,
and
representing the original variables and the dual variables received from the local node and the connecting node respectively,
a set of local nodes and connecting nodes representing information received by the master node;
(4-3-6) for the consistency variable zvUpdating is carried out, and an updating formula is as follows:
(4-3-7) the master node transferring the updated consistency variable to the local node and the connection node connected with the master node;
the following updates are made at the local node and the connecting node:
(4-3-8) the local node and the connection node respectively acquire the updated consistency variable from the main node;
(4-3-9) the local node and the connection node respectively update the original variable according to the updated consistency variable and the formula in the step (4-3-2), and update the dual variable according to the step (4-3-3);
(4-3-10) after the updating is finished, the local node and the connection node respectively transmit the updated original variable and the updated dual variable to the master node;
(4-3-11) setting an original threshold ∈ according to the convergence judgment condition of the alternative direction multiplier method for solving the augmented Lagrange form problempriAnd dual threshold ∈dualCalculating the original radius rk+1＝||uk+1-zk+1||2Dual radius sk+1＝ρ||zk+1-zk||2If r isk+1≤∈priAnd s isk+1≤∈dualThen will be
As the control quantity of the controlled networked automobile, the centralized group cooperative control of the networked automobile is realized, and if r is greater than r, the centralized group cooperative control of the networked automobile is realizedk+1＞∈priOr sk+1＞∈dualAnd returning to the step (4-3-8).
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| CN109889564A (en) | 2019-06-14 |
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