CN111913389A - Vehicle formation longitudinal control method based on vehicle-vehicle communication - Google Patents

Vehicle formation longitudinal control method based on vehicle-vehicle communication Download PDF

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Publication number
CN111913389A
CN111913389A CN202010844939.1A CN202010844939A CN111913389A CN 111913389 A CN111913389 A CN 111913389A CN 202010844939 A CN202010844939 A CN 202010844939A CN 111913389 A CN111913389 A CN 111913389A
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vehicle
control
control quantity
acceleration
controlled
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CN111913389B (en
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江威
周正
张帆
韩鹏
林凯
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Xiangyang Daan Automobile Test Center Co Ltd
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Xiangyang Daan Automobile Test Center Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.

Abstract

The invention relates to a vehicle formation longitudinal control method based on vehicle-vehicle communication, which comprises the following steps: acquiring the speed, the acceleration and the position of each vehicle in the vehicle formation; designing a fleet controller based on a fixed spacing control strategy and a nonlinear PID controller; determining the control quantity of the accelerator opening or the brake pressure of the controlled vehicle, wherein the control quantity is the sum of a feedforward control quantity obtained through a longitudinal dynamic inverse model of the vehicle and a feedback control quantity obtained through a nonlinear PID controller; and finishing acceleration and deceleration control of the controlled vehicle according to the control quantity of the accelerator opening or the brake pressure of the controlled vehicle. In order to achieve the control effects of fast response, high precision and good robustness, a control framework based on feedforward-feedback is provided, the control quantity of the accelerator opening or the brake pressure of the controlled vehicle is the sum of the feedforward control quantity and the feedback control quantity, and the speed tracking capability and the queue holding capability of the fleet under different working conditions can be obviously improved.

Description

Vehicle formation longitudinal control method based on vehicle-vehicle communication
Technical Field
The invention relates to the technical field of intelligent driving control of automobiles, in particular to a vehicle formation longitudinal control method based on vehicle-vehicle communication.
Background
International research has shown that if vehicles are driven in a queue during highway driving, the overall aerodynamic resistance can be changed by shortening the following distance, which is expected to improve the traffic flow and reduce the fuel consumption. The vehicle formation expands the environment perception capability of member vehicles by introducing wireless communication, and adopts a following strategy with a more compact geometric configuration on the basis of ensuring the safety, so that the traffic efficiency can be improved, the energy consumption is reduced, and the method is an important development direction of intelligent traffic.
The Chinese patent application with the publication number of CN110329257A provides a multi-train longitudinal control method based on vehicle-vehicle communication, which utilizes vehicle-vehicle communication equipment to realize the speed control of a vehicle and the state adaptation of a slave vehicle through the communication between the vehicle and other vehicles and the communication between the vehicle and the slave vehicle, the formation form of the vehicle is mainly a direct control type, and relevant parameters of an accelerator pedal or a brake pedal of a matched vehicle are set by utilizing the vehicle distance and the expected speed value of the formation, and the defects of the control mode are that: too long formation control chain, limited performance robustness and insufficient system stability, and in extreme cases, the automatic driving control system may fail.
Disclosure of Invention
The invention provides a vehicle formation longitudinal control method based on vehicle-vehicle communication aiming at the technical problems in the prior art, and solves the problems of overlong formation control chain, limited performance robustness and insufficient system stability in the prior art.
The technical scheme for solving the technical problems is as follows: a vehicle formation longitudinal control method based on vehicle-vehicle communication comprises the following steps:
step 1, acquiring the speed, the acceleration and the position of each vehicle in a vehicle formation;
step 2, designing a fleet controller based on a fixed interval control strategy and a nonlinear PID controller; each PID parameter in the nonlinear PID controller is determined according to the deviation of the vehicle state quantity;
step 3, determining the control quantity of the accelerator opening or the brake pressure of the controlled vehicle, wherein the control quantity is the sum of a feedforward control quantity obtained through a longitudinal dynamics inverse model of the vehicle and a feedback control quantity obtained through the nonlinear PID controller;
and 4, finishing acceleration and deceleration control of the controlled vehicle according to the control quantity of the accelerator opening or the brake pressure of the controlled vehicle.
The invention has the beneficial effects that: the invention provides a vehicle formation longitudinal control method based on vehicle-vehicle communication, aiming at the problems of speed tracking control and sensitivity and robustness of formation maintenance of a fleet in the cruising process of the fleet, a fleet controller is designed based on a fixed interval control strategy and a nonlinear PID controller, and each PID parameter in the nonlinear PID controller is determined according to the deviation of vehicle state quantity; in consideration of strong nonlinearity, time-varying property and even jump-varying property of a vehicle longitudinal dynamic system under a driving working condition, in order to achieve control effects of fast response, high precision and good robustness, a control framework based on feedforward-feedback is provided, and the control quantity of the accelerator opening or the brake pressure of a controlled vehicle is the sum of a feedforward control quantity and a feedback control quantity; the speed tracking capability and queue holding capability of the motorcade under different working conditions can be obviously improved, the interconnection and intercommunication among the vehicles are realized through the vehicle-vehicle communication equipment, other vehicles can capture the running state of the self vehicle more quickly and accurately, and the safe distance and speed among the running vehicles are ensured; meanwhile, each control target can be made to be clear through hierarchical control, functions are independent, control parameter adjustment and whole system stability are facilitated, when an emergency situation occurs, each vehicle can capture early warning signals rapidly, corresponding processing measures are made, and accordingly safety and stability of a motorcade are greatly improved.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the step 2 further comprises: a desired acceleration and a desired velocity of the controlled vehicle are determined from the fleet controller.
Further, the desired acceleration of the ith controlled vehicle is:
Figure DEST_PATH_IMAGE001
；
wherein the content of the first and second substances,
Figure 206227DEST_PATH_IMAGE002
、
Figure DEST_PATH_IMAGE003
、
Figure 649978DEST_PATH_IMAGE004
、
Figure DEST_PATH_IMAGE005
、
Figure 803878DEST_PATH_IMAGE006
and
Figure DEST_PATH_IMAGE007
the PID parameters in the nonlinear PID controller are respectively calculated;
Figure 122602DEST_PATH_IMAGE008
、
Figure DEST_PATH_IMAGE009
and
Figure 412769DEST_PATH_IMAGE010
respectively representing the position, velocity and acceleration of the fleet head vehicle,
Figure DEST_PATH_IMAGE011
、
Figure 27421DEST_PATH_IMAGE012
and
Figure DEST_PATH_IMAGE013
respectively representing the position, speed and acceleration of the leading vehicle of the controlled vehicle,
Figure 403039DEST_PATH_IMAGE014
and
Figure DEST_PATH_IMAGE015
respectively representing the position and speed of the ith controlled vehicle itself, L being the desired inter-vehicle distance;
calculating the desired speed of the ith controlled vehicle as:
Figure 516664DEST_PATH_IMAGE016
；
wherein T is a control period.
Further, the control amount of the accelerator opening degree of the controlled vehicle in the step 3
Figure DEST_PATH_IMAGE017
；
Wherein the content of the first and second substances,
Figure 661338DEST_PATH_IMAGE018
in order to drive and control the opening of the metering valve,
Figure DEST_PATH_IMAGE019
is a feedforward control quantity obtained by a vehicle longitudinal dynamics inverse model under a driving working condition,
Figure 712470DEST_PATH_IMAGE020
obtaining the feedback control quantity of the accelerator opening degree through the nonlinear PID controller;
the feedforward control quantity obtained by a vehicle longitudinal dynamics inverse model under a driving working condition is as follows:
Figure DEST_PATH_IMAGE021
；
wherein W represents a vehicle wheel load, f represents a rolling resistance coefficient,
Figure 575384DEST_PATH_IMAGE022
represents an air resistance coefficient, a represents a vehicle frontal area, v represents a vehicle speed, m represents a vehicle mass, g is a gravitational acceleration,
Figure DEST_PATH_IMAGE023
the angle of the slope is represented by the angle of the slope,
Figure 235910DEST_PATH_IMAGE024
a conversion coefficient indicating the rotational mass of the vehicle,
Figure DEST_PATH_IMAGE025
representing the desired acceleration of the vehicle, r represents the wheel radius,
Figure 500670DEST_PATH_IMAGE026
which is indicative of the transmission gear ratio of the vehicle,
Figure DEST_PATH_IMAGE027
representing the vehicle's final drive gear ratio,
Figure 722704DEST_PATH_IMAGE028
it is shown that the mechanical efficiency of the drive train,
Figure DEST_PATH_IMAGE029
representing a torque characteristic function of a vehicle torque converter,
Figure 807334DEST_PATH_IMAGE030
representing vehicle engine output torque.
Further, feedback control quantity of the accelerator opening is obtained through the PID controller:
Figure DEST_PATH_IMAGE031
；
wherein the content of the first and second substances,
Figure 274481DEST_PATH_IMAGE032
the desired speed of the vehicle.
Further, the control amount of the brake pressure of the controlled vehicle in the step 3
Figure DEST_PATH_IMAGE033
；
Wherein the content of the first and second substances,
Figure 393747DEST_PATH_IMAGE034
in order to control the amount of braking control,
Figure DEST_PATH_IMAGE035
is a feedforward control quantity obtained by a vehicle longitudinal dynamics inverse model under the braking working condition,
Figure 786682DEST_PATH_IMAGE036
obtaining a feedback control quantity of the brake pressure through the nonlinear PID controller;
the feedforward control quantity is obtained through a vehicle longitudinal dynamics inverse model under the braking working condition:
Figure DEST_PATH_IMAGE037
；
Figure 624188DEST_PATH_IMAGE038
in order to apply the braking system to the braking opening of the wheels,
Figure DEST_PATH_IMAGE039
the proportional coefficient of the braking torque and the braking opening degree.
Further, a feedback control quantity of the brake pressure is obtained through the nonlinear PID controller:
Figure 626517DEST_PATH_IMAGE040
。
further, each PID parameter in the nonlinear PID controller
Figure 100002_RE-DEST_PATH_IMAGE042
、
Figure 100002_RE-DEST_PATH_IMAGE044
、
Figure 100002_RE-DEST_PATH_IMAGE046
、
Figure 100002_RE-DEST_PATH_IMAGE048
、
Figure 100002_RE-DEST_PATH_IMAGE050
And
Figure 100002_RE-DEST_PATH_IMAGE052
the calculation formula of (2) is as follows:
Figure 100002_RE-DEST_PATH_IMAGE054
；
Figure 100002_RE-DEST_PATH_IMAGE056
、
Figure 100002_RE-DEST_PATH_IMAGE058
、
Figure 100002_RE-DEST_PATH_IMAGE060
、
Figure 100002_RE-DEST_PATH_IMAGE062
、
Figure 100002_RE-DEST_PATH_IMAGE064
and
Figure 100002_RE-DEST_PATH_IMAGE066
in order to be the set coefficient, the coefficient,
Figure 100002_RE-DEST_PATH_IMAGE068
representing a natural constant.
The beneficial effect of adopting the further scheme is that: based on a feedforward-feedback control framework, the control quantity of the opening degree of an accelerator or the brake pressure of a controlled vehicle is the sum of a feedforward control quantity and a feedback control quantity, the feedforward control quantity is obtained through a longitudinal dynamic inverse model of the vehicle under a driving working condition or a braking working condition, the feedback control quantity is obtained through a nonlinear PID controller, the control deviation selects the difference value between the expected speed and the vehicle speed, and the control effects of quick response, high precision and good robustness are achieved; and the PID parameters are subjected to nonlinearity and are related to the deviation of the vehicle state quantity, so that the control effect of the fleet controller on different working conditions is improved.
Drawings
Fig. 1 is a control flow chart.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is a flowchart of a vehicle formation longitudinal control method based on vehicle-to-vehicle communication according to an embodiment of the present invention, and as can be seen from fig. 1, the method includes:
step 1, acquiring the speed, the acceleration and the position of each vehicle in the vehicle formation.
Specifically, the information of the speed, the acceleration, the position and the like of the head car, the front car and the controlled car of the fleet can be acquired based on the communication technology and the environment perception technology.
And 2, designing a fleet controller based on a fixed interval control strategy and a nonlinear PID controller.
Each PID parameter in the nonlinear PID controller is determined according to the deviation of the vehicle state quantity; specifically, the vehicle state quantities may be the speed, acceleration, and position of each vehicle in the formation of vehicles.
And 3, determining the control quantity of the accelerator opening or the brake pressure of the controlled vehicle, wherein the control quantity is the sum of a feedforward control quantity obtained through a longitudinal dynamics inverse model of the vehicle and a feedback control quantity obtained through a nonlinear PID controller.
And 4, finishing acceleration and deceleration control of the controlled vehicle according to the control quantity of the accelerator opening or the brake pressure of the controlled vehicle, and realizing control and tracking of the longitudinal speed, thereby realizing longitudinal control and formation maintenance of a fleet.
The invention provides a vehicle formation longitudinal control method based on vehicle-vehicle communication, aiming at the problems of speed tracking control and sensitivity and robustness of formation maintenance of a fleet in the cruising process of the fleet, a fleet controller is designed based on a fixed interval control strategy and a nonlinear PID controller, and each PID parameter in the nonlinear PID controller is determined according to the deviation of vehicle state quantity; in consideration of strong nonlinearity, time-varying property and even jump-varying property of a vehicle longitudinal dynamic system under a driving working condition, in order to achieve control effects of fast response, high precision and good robustness, a control framework based on feedforward-feedback is provided, and the control quantity of the accelerator opening or the brake pressure of a controlled vehicle is the sum of a feedforward control quantity and a feedback control quantity; the speed tracking capability and queue holding capability of the motorcade under different working conditions can be obviously improved, the interconnection and intercommunication among the vehicles are realized through the vehicle-vehicle communication equipment, other vehicles can capture the running state of the self vehicle more quickly and accurately, and the safe distance and speed among the running vehicles are ensured; meanwhile, each control target can be made to be clear through hierarchical control, functions are independent, control parameter adjustment and whole system stability are facilitated, when an emergency situation occurs, each vehicle can capture early warning signals rapidly, corresponding processing measures are made, and accordingly safety and stability of a motorcade are greatly improved.
Example 1
Embodiment 1 provided by the present invention is an embodiment of a vehicle formation longitudinal control method based on vehicle-vehicle communication provided by the present invention, and the embodiment includes:
step 1, acquiring the speed, the acceleration and the position of each vehicle in the vehicle formation.
And 2, designing a fleet controller based on a fixed interval control strategy and a nonlinear PID controller.
Each PID parameter in the nonlinear PID controller is determined according to the deviation of the vehicle state quantity; specifically, the vehicle state quantities may be the speed, acceleration, and position of each vehicle in the formation of vehicles.
Preferably, step 2 further comprises: a desired acceleration and a desired velocity of the controlled vehicle are determined from the fleet controller.
Specifically, the desired acceleration of the ith controlled vehicle is:
Figure DEST_PATH_IMAGE051
。
wherein the content of the first and second substances,
Figure 667864DEST_PATH_IMAGE002
、
Figure 701680DEST_PATH_IMAGE052
、
Figure DEST_PATH_IMAGE053
、
Figure 350967DEST_PATH_IMAGE005
、
Figure 481734DEST_PATH_IMAGE006
and
Figure 59739DEST_PATH_IMAGE007
the PID parameters are all in the nonlinear PID controller;
Figure 377588DEST_PATH_IMAGE008
、
Figure 830566DEST_PATH_IMAGE009
and
Figure 753523DEST_PATH_IMAGE010
respectively representing the position, velocity and acceleration of the fleet head vehicle,
Figure 63281DEST_PATH_IMAGE011
、
Figure 868426DEST_PATH_IMAGE012
and
Figure 295734DEST_PATH_IMAGE013
respectively representing the position, speed and acceleration of the leading vehicle of the controlled vehicle,
Figure 135514DEST_PATH_IMAGE014
and
Figure 616174DEST_PATH_IMAGE015
respectively representing the position and the speed of the ith controlled vehicle, wherein L is an expected inter-vehicle distance and is generally 2-5 times of the vehicle length.
Calculating the desired speed of the ith controlled vehicle as:
Figure 111878DEST_PATH_IMAGE016
。
wherein T is a control period.
And 3, determining the control quantity of the accelerator opening or the brake pressure of the controlled vehicle, wherein the control quantity is the sum of a feedforward control quantity obtained through a longitudinal dynamics inverse model of the vehicle and a feedback control quantity obtained through a nonlinear PID controller.
And 4, finishing acceleration and deceleration control of the controlled vehicle according to the control quantity of the accelerator opening or the brake pressure of the controlled vehicle, and realizing control and tracking of the longitudinal speed, thereby realizing longitudinal control and formation maintenance of a fleet.
Preferably, the control amount of the accelerator opening degree of the controlled vehicle
Figure 703396DEST_PATH_IMAGE054
。
Wherein the content of the first and second substances,
Figure 600945DEST_PATH_IMAGE018
in order to drive and control the opening of the metering valve,
Figure 252506DEST_PATH_IMAGE019
is a feedforward control quantity obtained by a vehicle longitudinal dynamics inverse model under a driving working condition,
Figure DEST_PATH_IMAGE055
the feedback control quantity of the accelerator opening is obtained through a nonlinear PID controller.
The feedforward control quantity obtained by a vehicle longitudinal dynamics inverse model under a driving working condition is as follows:
Figure 969926DEST_PATH_IMAGE056
。
wherein W represents a vehicle wheel load, f represents a rolling resistance coefficient,
Figure DEST_PATH_IMAGE057
represents an air resistance coefficient, a represents a vehicle frontal area, v represents a vehicle speed, m represents a vehicle mass, g is a gravitational acceleration,
Figure 816002DEST_PATH_IMAGE023
representing a slope angle whose tangent is equal to the ratio of the height of the slope to the length of the base,
Figure 630374DEST_PATH_IMAGE024
a conversion coefficient indicating the rotational mass of the vehicle,
Figure 390520DEST_PATH_IMAGE025
representing the desired acceleration of the vehicle, r represents the wheel radius,
Figure 657553DEST_PATH_IMAGE058
which is indicative of the transmission gear ratio of the vehicle,
Figure 794137DEST_PATH_IMAGE027
representing the vehicle's final drive gear ratio,
Figure 463015DEST_PATH_IMAGE028
it is shown that the mechanical efficiency of the drive train,
Figure 394062DEST_PATH_IMAGE029
representing a torque characteristic function of a vehicle torque converter,
Figure 148392DEST_PATH_IMAGE030
representing vehicle engine output torque.
Specifically, the desired acceleration of the vehicle
Figure 587201DEST_PATH_IMAGE025
The ith vehicle receiver can be calculated according to the step 2The desired acceleration of the control vehicle is obtained correspondingly.
Obtaining feedback control quantity of the accelerator opening degree through a PID controller:
Figure 110586DEST_PATH_IMAGE031
。
wherein the content of the first and second substances,
Figure 274851DEST_PATH_IMAGE032
the desired speed of the vehicle may be obtained from the desired speed correspondence of the i-th controlled vehicle calculated in the above step 2.
Preferably, the control amount of the brake pressure of the controlled vehicle
Figure 454160DEST_PATH_IMAGE033
。
Wherein the content of the first and second substances,
Figure 994863DEST_PATH_IMAGE034
in order to control the amount of braking control,
Figure 310437DEST_PATH_IMAGE035
is a feedforward control quantity obtained by a vehicle longitudinal dynamics inverse model under the braking working condition,
Figure 911183DEST_PATH_IMAGE036
the feedback control quantity of the brake pressure is obtained by a nonlinear PID controller.
The brake condition longitudinal dynamics inverse model is a description of a process of solving the brake opening degree from the expected wheel torque or the expected acceleration. When the braking force does not exceed the maximum adhesion force of the road surface, the braking system acts on the braking torque of the wheel
Figure DEST_PATH_IMAGE059
And brake opening degree
Figure 312208DEST_PATH_IMAGE060
Can be expressed approximately by the following formula:
Figure DEST_PATH_IMAGE061
。
wherein the content of the first and second substances,
Figure 95750DEST_PATH_IMAGE062
the proportional coefficient of the braking torque and the braking opening degree. When the rolling resistance and the air resistance are fully utilized, the braking torque required for the desired deceleration can be obtained
Figure 265831DEST_PATH_IMAGE059
Comprises the following steps:
Figure DEST_PATH_IMAGE063
。
the feedforward control quantity obtained by the vehicle longitudinal dynamics inverse model under the braking working condition can be obtained:
Figure 37478DEST_PATH_IMAGE037
。
desired acceleration of vehicle
Figure 863483DEST_PATH_IMAGE025
The expected acceleration of the i-th controlled vehicle calculated in the above step 2 may be obtained correspondingly.
Obtaining a feedback control quantity of the brake pressure through a nonlinear PID controller:
Figure 745988DEST_PATH_IMAGE040
。
selecting a relatively stable speed as a parameter of a PID feedback link, where the control deviation also selects a desired speed
Figure 534691DEST_PATH_IMAGE064
Difference from vehicle speed v, wherein the vehicle is expected to be at speed
Figure 477239DEST_PATH_IMAGE032
May be obtained from the expected speed correspondence of the i-th controlled vehicle calculated in the above-described step 2.
Preferably, each PID parameter in the non-linear PID controller
Figure 852856DEST_PATH_IMAGE002
、
Figure 539053DEST_PATH_IMAGE041
、
Figure 683726DEST_PATH_IMAGE042
、
Figure 797176DEST_PATH_IMAGE005
、
Figure DEST_PATH_IMAGE065
And
Figure 660090DEST_PATH_IMAGE066
the calculation formula of (2) is as follows:
Figure 884398DEST_PATH_IMAGE043
。
Figure RE-RE-DEST_PATH_IMAGE001
、
Figure RE-853706DEST_PATH_IMAGE002
、
Figure RE-RE-DEST_PATH_IMAGE003
、
Figure 100002_RE-DEST_PATH_IMAGE004
、
Figure RE-RE-DEST_PATH_IMAGE005
and
Figure 100002_RE-DEST_PATH_IMAGE006
in order to be the set coefficient, the coefficient,
Figure RE-RE-DEST_PATH_IMAGE007
representing a natural constant.
The nonlinear PID control method is characterized in that a PID parameter of a nonlinear PID controller is not a fixed value and is related to the deviation of the vehicle state quantity, and is in a nonlinear relation, and considering that the PID control method cannot adapt to multiple working conditions frequently, according to a PID control effect rule, the same PID control parameter control effect is different for different working conditions, and for the same working condition, the different PID parameter control effects are different, so that the adaptability of the control method is improved, the PID parameter is nonlinear based on the nonlinear PID control method, and is related to the deviation of the vehicle state quantity, and the control effect of the fleet controller on different working conditions is improved.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. A vehicle formation longitudinal control method based on vehicle-vehicle communication is characterized by comprising the following steps:
step 1, acquiring the speed, the acceleration and the position of each vehicle in a vehicle formation;
step 2, designing a fleet controller based on a fixed interval control strategy and a nonlinear PID controller; each PID parameter in the nonlinear PID controller is determined according to the deviation of the vehicle state quantity;
step 3, determining the control quantity of the accelerator opening or the brake pressure of the controlled vehicle, wherein the control quantity is the sum of a feedforward control quantity obtained through a longitudinal dynamics inverse model of the vehicle and a feedback control quantity obtained through the nonlinear PID controller;
and 4, finishing acceleration and deceleration control of the controlled vehicle according to the control quantity of the accelerator opening or the brake pressure of the controlled vehicle.
2. The vehicle-vehicle communication-based vehicle formation longitudinal control method according to claim 1, wherein the step 2 further comprises: a desired acceleration and a desired velocity of the controlled vehicle are determined from the fleet controller.
3. The vehicle-vehicle communication-based vehicle formation longitudinal control method according to claim 2, wherein the expected acceleration of the ith controlled vehicle is as follows:
Figure RE-DEST_PATH_IMAGE001
；
wherein the content of the first and second substances,
Figure RE-DEST_PATH_IMAGE002
、
Figure RE-DEST_PATH_IMAGE003
、
Figure RE-DEST_PATH_IMAGE004
、
Figure RE-DEST_PATH_IMAGE005
、
Figure RE-DEST_PATH_IMAGE006
and
Figure RE-DEST_PATH_IMAGE007
the PID parameters in the nonlinear PID controller are respectively calculated;
Figure RE-DEST_PATH_IMAGE008
、
Figure RE-DEST_PATH_IMAGE009
and
Figure RE-DEST_PATH_IMAGE010
respectively indicating the position of the head of a vehicle in a fleetThe speed and the acceleration of the vehicle,
Figure RE-DEST_PATH_IMAGE011
、
Figure RE-DEST_PATH_IMAGE012
and
Figure RE-DEST_PATH_IMAGE013
respectively representing the position, speed and acceleration of the leading vehicle of the controlled vehicle,
Figure RE-DEST_PATH_IMAGE014
and
Figure RE-DEST_PATH_IMAGE015
respectively representing the position and speed of the ith controlled vehicle itself, L being the desired inter-vehicle distance;
calculating the desired speed of the ith controlled vehicle as:
Figure RE-DEST_PATH_IMAGE016
；
wherein T is a control period.
4. The vehicle formation longitudinal control method based on vehicle-vehicle communication as claimed in claims 2 and 3, wherein the control quantity of the throttle opening of the controlled vehicle in the step 3
Figure RE-DEST_PATH_IMAGE017
；
Wherein the content of the first and second substances,
Figure RE-DEST_PATH_IMAGE018
in order to drive and control the opening of the metering valve,
Figure RE-DEST_PATH_IMAGE019
obtained by inverse model of longitudinal dynamics of vehicle under driving conditionThe amount of the feedforward control is controlled,
Figure RE-DEST_PATH_IMAGE020
obtaining the feedback control quantity of the accelerator opening degree through the nonlinear PID controller;
the feedforward control quantity obtained by a vehicle longitudinal dynamics inverse model under a driving working condition is as follows:
Figure RE-DEST_PATH_IMAGE021
；
wherein W represents a vehicle wheel load, f represents a rolling resistance coefficient,
Figure RE-DEST_PATH_IMAGE022
represents an air resistance coefficient, a represents a vehicle frontal area, v represents a vehicle speed, m represents a vehicle mass, g is a gravitational acceleration,
Figure RE-DEST_PATH_IMAGE023
the angle of the slope is represented by the angle of the slope,
Figure RE-DEST_PATH_IMAGE024
a conversion coefficient indicating the rotational mass of the vehicle,
Figure RE-DEST_PATH_IMAGE025
representing the desired acceleration of the vehicle, r represents the wheel radius,
Figure RE-DEST_PATH_IMAGE026
which is indicative of the transmission gear ratio of the vehicle,
Figure RE-DEST_PATH_IMAGE027
representing the vehicle's final drive gear ratio,
Figure RE-DEST_PATH_IMAGE028
it is shown that the mechanical efficiency of the drive train,
Figure RE-DEST_PATH_IMAGE029
representing a torque characteristic function of a vehicle torque converter,
Figure RE-DEST_PATH_IMAGE030
representing vehicle engine output torque.
5. The vehicle formation longitudinal control method based on vehicle-vehicle communication according to the claims 2, 3 and 4, characterized in that the feedback control quantity of the throttle opening is obtained by the PID controller:
Figure RE-DEST_PATH_IMAGE031
；
wherein the content of the first and second substances,
Figure RE-DEST_PATH_IMAGE032
the desired speed of the vehicle.
6. The vehicle formation longitudinal control method based on vehicle-vehicle communication according to claim 2, 3, 4 and 5, wherein the control amount of the brake pressure of the controlled vehicle in the step 3
Figure RE-DEST_PATH_IMAGE033
；
Wherein the content of the first and second substances,
Figure RE-DEST_PATH_IMAGE034
in order to control the amount of braking control,
Figure RE-DEST_PATH_IMAGE035
is a feedforward control quantity obtained by a vehicle longitudinal dynamics inverse model under the braking working condition,
Figure RE-DEST_PATH_IMAGE036
obtaining a feedback control quantity of the brake pressure through the nonlinear PID controller;
the feedforward control quantity is obtained through a vehicle longitudinal dynamics inverse model under the braking working condition:
Figure RE-DEST_PATH_IMAGE037
；
Figure RE-DEST_PATH_IMAGE038
in order to apply the braking system to the braking opening of the wheels,
Figure RE-DEST_PATH_IMAGE039
the proportional coefficient of the braking torque and the braking opening degree.
7. A vehicle formation longitudinal control method based on vehicle-vehicle communication according to the claims 2, 3, 4, 5 and 6, characterized in that the feedback control quantity of the brake pressure is obtained by the nonlinear PID controller:
Figure RE-DEST_PATH_IMAGE040
。
8. the method as claimed in claims 1, 2, 3, 4, 5 and 6, wherein each PID parameter in the non-linear PID controller
Figure RE-DEST_PATH_IMAGE042
、
Figure RE-DEST_PATH_IMAGE044
、
Figure RE-DEST_PATH_IMAGE046
、
Figure RE-DEST_PATH_IMAGE048
、
Figure RE-DEST_PATH_IMAGE050
And
Figure RE-DEST_PATH_IMAGE052
the calculation formula of (2) is as follows:
Figure RE-DEST_PATH_IMAGE054
；
Figure RE-DEST_PATH_IMAGE056
、
Figure RE-DEST_PATH_IMAGE058
、
Figure RE-DEST_PATH_IMAGE060
、
Figure RE-DEST_PATH_IMAGE062
、
Figure RE-DEST_PATH_IMAGE064
and
Figure RE-DEST_PATH_IMAGE066
in order to be the set coefficient, the coefficient,
Figure RE-DEST_PATH_IMAGE068
representing a natural constant.
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