CN113034911B - Vehicle queue control method and system with parameter and structure heterogeneity - Google Patents

Vehicle queue control method and system with parameter and structure heterogeneity Download PDF

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CN113034911B
CN113034911B CN202110275383.3A CN202110275383A CN113034911B CN 113034911 B CN113034911 B CN 113034911B CN 202110275383 A CN202110275383 A CN 202110275383A CN 113034911 B CN113034911 B CN 113034911B
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CN113034911A (en
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胡满江
卜令坤
边有钢
王晓伟
秦洪懋
秦晓辉
徐彪
秦兆博
谢国涛
丁荣军
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Hunan University
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40267—Bus for use in transportation systems
    • H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle

Abstract

The invention discloses a vehicle queue control method with parameter and structure heterogeneity, which comprises the following steps: step 1, numbering vehicles in a queue from front to back by 0-N, wherein the 0 th vehicle is a pilot vehicle, and the rest N vehicles are following vehicles; step 2, the pilot vehicle adopts a second-order model of speed control; step 3, a third-order kinetic model is adopted for a following vehicle i (i is 1,2, …, N); step 4, the pilot vehicle sends position, speed and acceleration information to the neighbor vehicle; the following car receives neighbor car information and pilot car information, and an observed value of the pilot car information is obtained through calculation of an observer; step 5, collecting the position, speed and acceleration information of the following vehicle and calculating control input; and 6, continuously repeating the steps 4-5. The vehicle queue control method with parameter and structure heterogeneity is suitable for a large class of communication topological structures, does not increase hardware resources, ensures the asymptotic stability of the vehicle queue, and improves traffic capacity, safety and economy.

Description

Vehicle queue control method and system with parameter and structure heterogeneity
Technical Field
The invention relates to the field of intelligent transportation, in particular to a vehicle queue control method and system with parameter and structure heterogeneity.
Background
The vigorous development of the automobile industry brings great convenience to human traffic, but the rapid rise of the vehicle holding amount also brings problems of traffic jam, road accidents, environmental pollution and the like. For vehicle safety and economy, there are currently many applied technologies, such as Advanced Driver Assistance System (ADAS) and Adaptive Cruise Control (ACC); however, these techniques only use a single vehicle as a control target, and do not consider the coupling effect between a plurality of vehicles, and thus have a limited degree of improvement in performance. In recent years, the development of vehicle-mounted communication technology has been rapidly advanced, making it possible to perform cooperative control between vehicles. A vehicle queue Control technology based on communication is also called Cooperative Adaptive Cruise Control (CACC), and has been widely studied because it can significantly reduce traffic congestion, improve traffic efficiency, improve driving safety, and improve fuel economy.
There are many related patents on cooperative adaptive cruise control. Application No.: CN201910080391.5 (vehicle queue following stability control method considering communication topology time variation) researches a control method for queue system stable following based on switching communication topology, but it is assumed that dynamic models of all vehicles are the same, and actual vehicles may have different dynamic model parameters or even different dynamic model structures due to vehicle type difference, powertrain difference and control mode difference. Application No.: 201811204184.8 (a method for analyzing the stability of multiple delays in formation of intelligent networked vehicles) and application No.: 201910571957.4 (distributed finite time state observer based multi-intelligent vehicle formation method) are only specific to a particular communication topology, such as: front-car following, double-front-car following, bidirectional-navigator following, etc. cannot be applied to a large class of communication topologies.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a queue control method and a queue control system with parameter and structure heterogeneity, which guarantee the system stability of the queue with parameter and structure heterogeneity under a general topology and realize the following target of the heterogeneous vehicle queue.
In order to achieve the purpose, the invention provides the following technical scheme: a vehicle queue control method with parameter and structure heterogeneity comprises the following steps:
step 1, numbering vehicles in a queue from front to back by 0-N, wherein the 0 th vehicle is a pilot vehicle, and the rest N vehicles are following vehicles; in the present invention with pi、vi、ai、ui、τiRepresenting position, speed, acceleration, control input (desired acceleration), and longitudinal driveline time lag constant, respectively, of vehicle i (i ═ 0,1, …, N); by xi＝[pi vi ai]TAnd (i ═ 0,1, …, N) represents the state vector of the vehicle node. If the following vehicle i can receive the pilot vehicle information, recording b i1 is ═ 1; otherwise b i0. If the following vehicle i can receive the information of the jth vehicle, recording m ij1 is ═ 1; otherwise mij＝0；
Step 2, the pilot vehicle adopts a second-order model of speed control, and a dynamic model of the pilot vehicle is given as the following formula:
Figure BDA0002976413310000021
wherein the content of the first and second substances,
Figure BDA0002976413310000022
the control inputs are: u. of0(t)＝v0；
Step 3, the following vehicle i (i ═ 1,2, …, N) adopts a third-order kinetic model, and the kinetic equation is given as follows:
Figure BDA0002976413310000023
wherein (A)i,Bi) May have disparate matrix parameters to characterize different vehicle dynamics parameters and structural heterogeneity;
step 4, the pilot vehicle sends position, speed and acceleration information to the neighbor vehicle; the following car receives neighbor car information and pilot car information, and an observed value of the pilot car information is obtained through calculation of an observer;
step 5, the following vehicle collects the position, speed and acceleration information of the vehicle and calculates and controls the input according to the received information of the neighboring vehicle;
and 6, continuously repeating the steps 4-5, and improving the asymptotic stability of the queue system.
As a further improvement of the invention, A in the step 3i,BiThe following equation should be satisfied:
AiΠi+BiΓi＝ΠiA0,
wherein (gamma)i,Πi) Optionally such that Ai,Bi,A0Any form satisfying the above formula.
As a further improvement of the invention, A in the step 3i,BiThe method has the following two widely applied forms that the equation is satisfied and simultaneously a parameter and structure heterogeneity dynamic model is provided:
Figure BDA0002976413310000031
Figure BDA0002976413310000032
as a further improvement of the present invention, the information of the following vehicles receiving the neighboring vehicles in step 4 includes observed values of the neighboring vehicles on the position, speed and acceleration of the pilot vehicle, and the observer is designed as follows:
Figure BDA0002976413310000033
Figure BDA0002976413310000034
Figure BDA0002976413310000035
as a further improvement of the present invention, the control input of step 5 is calculated by the following formula:
ui(t)＝kp,i(pr,i-id0-pi)+kv,i(vr,i-vi)+ka,i(ar,i-ai)+Γixr,i
wherein x isr,i＝[pr,i vr,i ar,i]T。
As a further improvement of the present invention, the control gain of the observer is selected as given by:
Figure BDA0002976413310000041
as a further improvement of the present invention, in the control input of step 5, the control gain selection range is given by:
Figure BDA0002976413310000042
is a Hurwitz matrix of which,
wherein the content of the first and second substances,
Figure BDA0002976413310000043
Figure BDA0002976413310000044
is a Hurwitz matrix, which can be based on Ai,BiIs derived from the Router-Hurwitz criterion
Figure BDA0002976413310000045
The value range of (a).
As a further improvement of the present invention, the control gains of the two vehicle models are given by:
Figure BDA0002976413310000046
as a further improvement of the present invention, a selection step of connecting the adaptive control units in series before parameter selection to optimize the control gain is further performed between the step 6 and the step 5.
The invention provides a system which comprises a vehicle-mounted terminal and an operation server, wherein the vehicle-mounted terminal and the operation server are mutually connected in a communication mode to operate a program loaded with the method.
The invention has the beneficial effects that:
(1) the designed vehicle queue control method and system with parameter and structure heterogeneity can be used for popularizing the applicable objects from the vehicle queue homogeneous dynamic model to the dynamic model with parameter and structure heterogeneity, and are more suitable for engineering practice and have greater application value;
(2) the designed vehicle queue control method and system with parameter and structure heterogeneity are not limited to specific communication topologies but can be applied to a large class of communication topologies to follow up the increasingly developed communication technology;
(3) the designed vehicle queue control method and system with parameter and structure heterogeneity can realize the following target of heterogeneous queues only based on the change of software level, does not increase hardware cost, and has good demonstration application value.
Drawings
FIG. 1 is a flow chart of the present invention for implementing vehicle fleet system startup and operation;
FIG. 2 is an embodiment of a vehicle queue communication topology of the present invention;
fig. 3 is a control flowchart of the ith (i is 1,2, …, N) vehicle in the present invention.
Detailed Description
The invention will be further described in detail with reference to the following examples, which are given in the accompanying drawings.
Referring to fig. 1 to 3, in order to solve the problem of vehicle queue control with heterogeneous parameters and structures in the intelligent transportation field, improve the automation level and safety of the transportation system, and reduce the burden of the driver, the present embodiment provides a vehicle queue control method and system with heterogeneous parameters and structures, and provides a specific implementation of the method.
The vehicle queue considered in the embodiment is composed of N +1 vehicles, wherein the 0 th vehicle is a pilot vehicle, and the remaining N vehicles are following vehicles. The communication topology only needs to meet the requirement that a directed spanning tree which takes a pilot vehicle as a root node exists, and no requirement is made on a specific topology form. Each vehicle is provided with positioning, communication and control equipment. The positioning equipment adopts the GPS and IMU fusion technology, CAN acquire the position, the speed and the acceleration information of the current vehicle and sends the information to the CAN bus. The communication equipment adopts the vehicle-mounted T-BOX to carry out real-time communication. The communication device CAN acquire the own vehicle information from the CAN bus, transmit it to several surrounding vehicles, and receive the vehicle information around it. The upper layer controller calculates expected acceleration by the collected vehicle information and the neighbor vehicle information acquired by the communication equipment and sends the expected acceleration to the lower layer controller by the CAN bus; the underlying controller adjusts the acceleration of the vehicle in accordance with the control commands to maintain the desired fleet geometry.
The vehicle queue control method with parameter and structure heterogeneity provided by the invention comprises the following specific steps:
(1) and (4) designing a structural form meeting the requirements in the step (3) according to the dynamic characteristics of the following vehicle. The following two control structures are given as examples in the present invention:
vehicle type 1
Figure BDA0002976413310000061
Figure BDA0002976413310000062
Type 2 of vehicle
Figure BDA0002976413310000063
Figure BDA0002976413310000064
It should be noted that, in addition to the two control structures mentioned in the present invention, the heterogeneous parameters and the kinetic models of the heterogeneous structures that satisfy the requirements of the equation in step 3 above are all within the scope of the present invention;
(2) the control gain is selected from a range of parameters given by:
Figure BDA0002976413310000065
Figure BDA0002976413310000066
(3) vehicle queue start initialization: after receiving the starting command, the queue vehicles start the queue system after the sensing system initialization, the power system initialization and the communication device initialization are successful;
(4) initializing a queue configuration: arranging N +1 vehicles longitudinally, and numbering from front to back by 0-N, wherein the 0 th vehicle is a pilot vehicle, and the N vehicles behind the pilot vehicle are follower vehicles;
(5) the i (i ═ 1,2,3, …, N) th vehicle calculates the observed value of the pilot vehicle information by the following observer equation:
Figure BDA0002976413310000071
Figure BDA0002976413310000072
Figure BDA0002976413310000073
and sending the calculated pilot vehicle information observation value to the neighbor vehicle;
(6) the ith (i is 1,2,3, …, N) vehicle receives the information of the neighbor vehicles through the vehicle-mounted T-BOX, namely the observed values of the positions, the speeds and the accelerations of the pilot vehicles of all the neighbor vehicles; and the position, speed and acceleration information of the vehicle are obtained by reading the vehicle-mounted CAN bus data. The control input is then calculated from:
Figure BDA0002976413310000074
(7) the ith (i is 1,2,3, …, N) vehicle sends the calculated control input, namely the expected acceleration or the expected speed, to the CAN bus, and then enters the lower layer controller;
(8) if the vehicle is
Figure BDA0002976413310000075
When the expected acceleration is higher than the actual acceleration when the throttle opening is zero, inputting the expected acceleration into an inverse model of a driving system to obtain the throttle opening alphaf,i＝N-1(ωi,Iiri(miui+Fi) And applied to a drive system, where N is-1As an inverse function of engine torque, ωi、Ii、ri、mi、FiThe engine speed, the transmission ratio of a transmission system, the radius of a tire, the mass and the running resistance of the ith vehicle are respectively; if the expected acceleration is lower than the actual acceleration when the opening of the throttle valve is zero, inputting the expected acceleration into an inverse model of the braking system to obtain braking pressure
Figure BDA0002976413310000081
And applied to the braking system, where Kb,iIs the brake system gain. If the vehicle is
Figure BDA0002976413310000082
When the expected speed is higher than the actual vehicle speed, the expected speed is input into the inverse model of the driving system to obtain the throttle opening alphaf,i＝N-1(ωi,Iiri(mif(vi)+Fi) And applied to the drive system, where ui＝f(vi) F (-) is control uiFor vehicle speed viThe inverse function of (c); if the expected speed is lower than the actual speed, the expected speed is input into an inverse model of the braking system to obtain braking pressure
Figure BDA0002976413310000083
And applied to the braking system;
(9) the drive or brake system acting to obtain drive torque TwOr braking torque TbAnd is applied to the vehicle body to make the vehicle obtain the actual acceleration ar；
(10) And (5) continuously repeating the steps 5-9 for each following vehicle to realize the vehicle queue running.
Examples
Take an example of a queue containing 8 vehicles, as shown in fig. 2.
As shown in fig. 1 and 3, after the queue system is started, the pilot vehicle sends the position, speed and acceleration information of the own vehicle to the neighboring vehicle; and (4) the following vehicles calculate the observed value of the pilot vehicle information according to the observer in the step (4) according to the neighbor vehicle information, and send the observed information to the neighbor vehicles through the vehicle-mounted communication device. According to the self-vehicle information and the received observation information of the neighboring vehicle to the pilot vehicle, the upper layer controller calculates the expected acceleration or the expected speed by a programmed control algorithm and sends the expected acceleration or the expected speed to the lower layer controller through the CAN bus, and the lower layer controller controls the driving system and the braking system to act according to the control command so as to achieve and maintain the expected queue geometric configuration until the queue driving task is finished.
In summary, the control method and system of the embodiment are oriented to a heterogeneous queue system with parameters and structures, are suitable for a large class of communication topology structures, do not increase hardware resources, ensure the asymptotic stability of the vehicle queue, and improve traffic capacity, safety and economy.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims (9)

1. A vehicle queue control method with parameter and structure heterogeneity, which is characterized in that: the method comprises the following steps:
step 1, numbering vehicles in a queue from front to back by 0-N, wherein the 0 th vehicle is a pilot vehicle, the rest N vehicles are following vehicles, and p is usedi、vi、ai、ui、τiRepresenting the position, speed, acceleration, desired acceleration or desired speed and longitudinal driveline time lag constant, respectively, of a vehicle i (i 0, 1.., N); by xi＝[pi vi ai]TAnd (i ═ 0, 1., N) represents the state vector of the vehicle node, and if the following vehicle i can receive the pilot vehicle information, b is recordedi1 is ═ 1; otherwise biIf the following vehicle i can receive the information of the jth vehicle, the number m is recorded as 0ij1; otherwise mij＝0；
Step 2, the pilot vehicle adopts a second-order model of speed control, and a dynamic model of the pilot vehicle is given as the following formula:
Figure FDA0003576829930000011
wherein the content of the first and second substances,
Figure FDA0003576829930000012
the desired acceleration or desired velocity is: u. of0(t)＝v0；
Step 3, a third-order kinetic model is adopted for the following vehicle i (i ═ 1, 2.., N), and the kinetic equation is given as follows:
Figure FDA0003576829930000013
wherein，(Ai，Bi) May have disparate matrix parameters to characterize different vehicle dynamics parameters and structural heterogeneity;
step 4, the pilot vehicle sends position, speed and acceleration information to the neighbor vehicle; the following car receives the information of the neighboring car, and the observed value of the pilot car information is obtained through the calculation of the observer; the following vehicle sends the observed value of the pilot vehicle information obtained by the calculation of the own vehicle observer to the neighboring vehicle;
step 5, the following vehicle collects the position, speed and acceleration information of the vehicle, and calculates expected acceleration or expected speed according to the received information of the neighboring vehicle;
step 6, continuously repeating the steps 4-5, and improving the asymptotic stability of the queue system; in the step 4, the following vehicle receiving neighbor vehicle information comprises observed values of the neighbor vehicle to the position, the speed and the acceleration of the pilot vehicle, and the observer is designed as follows:
Figure FDA0003576829930000021
Figure FDA0003576829930000022
Figure FDA0003576829930000023
。
2. the vehicle fleet control method according to claim 1, wherein the vehicle fleet control method comprises the steps of: a in said step 3i，BiThe following equation should be satisfied:
AiПi+BiΓi＝ПiA0，
wherein (gamma)i，∏i) Optionally such that Ai，Bi，A0Any form satisfying the above formula.
3. The vehicle fleet control method according to claim 2, wherein the vehicle fleet control method comprises the steps of: a in said step 3i，BiThe method has the following two widely applied forms that the equation is satisfied and simultaneously a parameter and structure heterogeneity dynamic model is provided:
Figure FDA0003576829930000024
Figure FDA0003576829930000025
4. the method of vehicle fleet control with both parameter and structural heterogeneity according to claim 3, wherein: the desired acceleration or desired velocity of step 5 is calculated by:
ui(t)＝kp，i(pr，i-id0-pi)+kv，i(vr，i-vi)+ka，i(ar，i-ai)+Γixr，i
wherein x isr，i＝[pr，i vr，i ar，i]T。
5. The vehicle fleet control method according to claim 4, wherein the vehicle fleet control method comprises the steps of: the control gain of the observer is chosen as given by:
Figure FDA0003576829930000031
6. the method of vehicle fleet control with both parameter and structural heterogeneity according to claim 5, wherein: in the desired acceleration or desired velocity of step 5, the control gain selection range is given by:
Figure FDA0003576829930000032
is a Hurwitz matrix of which,
wherein the content of the first and second substances,
Figure FDA0003576829930000037
Figure FDA0003576829930000033
is a Hurwitz matrix, which can be based on Ai，BiIs derived from the Router-Hurwitz criterion
Figure FDA0003576829930000034
The value range of (a).
7. The method of vehicle fleet control with both parameter and structural heterogeneity according to claim 6, wherein: the control gains of the two vehicle models in the step 3 are selected as follows:
Figure FDA0003576829930000035
Figure FDA0003576829930000036
8. the method for vehicle fleet control with both parameter and structural heterogeneity according to claim 7, wherein: and a step of selecting the optimal control gain of the series adaptive control unit before parameter selection is also carried out between the step 6 and the step 5.
9. A system for use in the method of any one of claims 1 to 8, wherein: the method comprises a vehicle-mounted terminal and an operation server, wherein the vehicle-mounted terminal and the operation server are in communication connection with each other to operate a program carrying the method.
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