CN113885528B - Fixed time convergence formation control system and method for dynamic event trigger mechanism - Google Patents
Fixed time convergence formation control system and method for dynamic event trigger mechanism Download PDFInfo
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Abstract
The invention provides a fixed time convergence formation control system and a fixed time convergence formation control method of a dynamic event trigger mechanism, wherein the fixed time convergence formation control system comprises an upstream module, a fixed time formation controller, a vehicle networking module and a V2X road end module, and the upstream module comprises a decision module; the upstream module acquires scene information; the decision module judges whether the scene information meets the formation condition, and if so, the vehicle networking module sends formation request information to the V2X road end module; after determining that a new member joins in formation according to formation request information, the V2X road end module initializes the fixed time formation controller to acquire a formation communication topological graph and formation member vehicle state information; constructing a new communication topological graph according to the formation communication topological graph and the formation member vehicle state information, and establishing communication with vehicles of the neighbor nodes according to the new communication topological graph; acquiring state information and expected formations of neighbor nodes; and establishing a fixed time formation controller of the dynamic event trigger mechanism according to the state information of the neighbor nodes and the expected formation.
Description
Technical Field
The invention relates to the technical field of intelligent transportation, in particular to a fixed time convergence formation control system and method of a dynamic event trigger mechanism.
Background
In recent years, as urban traffic participants increase, traffic jams and accidents frequently occur, which restrict urban economic development and people's safety. To solve this problem, autopilot technology has been developed. The vehicle formation control technology is used as an important component of the automatic driving technology to organize vehicles into formations, so that the situation that the congested road sections are suddenly braked and the congested road sections are mutually contended and robbed to cause congestion and accidents is avoided, and the vehicles can pass through the congested road sections safely and efficiently in the scenes of crossroads, congested road sections and the like.
Current vehicle formation control strategies include leader-follower methods, virtual structure methods, and artificial potential field methods, among others. The formation controller is designed mainly from angles of gradual convergence, exponential convergence, finite time convergence and the like. The formation communication mechanism mainly comprises fixed period-based triggering, event-based triggering and the like.
From the perspective of vehicle formation control strategies, the leader-follower approach is implemented as follows: there are one or more leaders in the system, and the follower takes the leader as a reference to control. The follower control protocol relies on the leader that when the leader fails, the queuing system will crash immediately, and furthermore, the leader has no feedback of the follower's status information, rendering the system less robust.
Disclosure of Invention
In view of the above, the present invention aims to provide a system and a method for controlling fixed time convergence formation of a dynamic event trigger mechanism, wherein the formation construction adopts a distributed leader-free fixed time formation controller to construct a new communication topological graph; the system has strong robustness, high fault tolerance and strong expandability.
In a first aspect, an embodiment of the present invention provides a fixed time convergence formation control system of a dynamic event trigger mechanism, where the system includes an upstream module, a fixed time formation controller, a vehicle networking module, and a V2X road end module, where the upstream module includes a decision module;
The upstream module and the vehicle networking module are respectively connected with the fixed time formation controller, and the upstream module and the V2X road end module are respectively connected with the vehicle networking module;
The upstream module is used for acquiring scene information;
The decision module is used for judging whether the scene information meets formation conditions, and if so, the vehicle networking module sends formation request information to the V2X road end module;
The V2X road end module is used for initializing the fixed time formation controller after determining that a new member joins in formation according to the formation request information, and acquiring a formation communication topological graph and formation member vehicle state information; constructing a new communication topological graph according to the formation communication topological graph and the formation member vehicle state information, and establishing communication with vehicles of neighbor nodes according to the new communication topological graph;
Acquiring state information and expected formations of the neighbor nodes; and establishing the fixed time formation controller based on a dynamic event trigger mechanism according to the state information of the neighbor nodes and the expected formation.
Further, the fixed time formation controller comprises a cloud controller and a vehicle formation controller, and the vehicle formation controller comprises an inner ring controller and an outer ring controller.
Further, the decision module is configured to determine whether the euclidean distance between the built formation and the latest formation meets a requirement, whether the euclidean distance exceeds a maximum formation number threshold, whether the vehicle is in a scene where the formation can be built, whether the internet of vehicles module obtains a formation request, and whether the V2X road end module meets the requirement of the formation; and if so, sending the formation request information to the V2X road end module through the Internet of vehicles module.
Further, each formation member is provided with a corresponding event trigger controller, and each event trigger controller manages dynamic variables of the corresponding formation member;
And the V2X road end module is used for enabling the event trigger controller to update the dynamic variable when the event trigger condition is detected to be met, and calculating a trigger result according to the dynamic variable and the error item.
Further, the outer ring controller is used for acquiring state information of the self-vehicle; calculating the expected vehicle speed and the expected direction of the own vehicle according to the state information of the own vehicle, the state information of the neighbor nodes and the expected formation, and sending the expected vehicle speed and the expected direction to the inner ring controller;
The state information of the neighbor node is the state information of the neighbor node at the latest trigger time.
Further, the inner loop controller is configured to calculate a control input to an underlying actuator based on the desired vehicle speed and the desired heading, wherein the underlying actuator includes a steering wheel, a throttle, and a brake.
Further, the scene information includes one or more of existing formation information, vehicle information, map information, and obstacle information.
In a second aspect, an embodiment of the present invention provides a fixed time convergence queuing control method for a dynamic event trigger mechanism, where the method includes:
Acquiring scene information;
Judging whether the scene information meets formation conditions or not;
If yes, transmitting formation request information;
After determining that a new member joins in formation according to the formation request information, initializing a fixed time formation controller;
Acquiring a formation communication topological graph and formation member vehicle state information;
Constructing a new communication topological graph according to the formation communication topological graph and the formation member vehicle state information, and establishing communication with vehicles of neighbor nodes according to the new communication topological graph;
Acquiring state information and expected formations of the neighbor nodes;
and establishing the fixed time formation controller based on a dynamic event trigger mechanism according to the state information of the neighbor nodes and the expected formation.
In a third aspect, an embodiment of the present invention provides an electronic device, including a memory, and a processor, where the memory stores a computer program executable on the processor, and where the processor implements a method as described above when executing the computer program.
In a fourth aspect, embodiments of the present invention provide a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method as described above.
The embodiment of the invention provides a fixed time convergence formation control system and a fixed time convergence formation control method of a dynamic event trigger mechanism, comprising the following steps: the system comprises an upstream module, a fixed time formation controller, a vehicle networking module and a V2X road end module, wherein the upstream module comprises a decision module; the upstream module and the Internet of vehicles module are respectively connected with the fixed time formation controller, and the Internet of vehicles module is connected with the V2X road end module; the upstream module is used for acquiring scene information; the decision module is used for judging whether the scene information meets the formation conditions, and if so, the vehicle networking module sends formation request information to the V2X road end module; the V2X road end module is used for initializing a fixed time formation controller after determining that a new member joins in formation according to formation request information, and acquiring a formation communication topological graph and formation member vehicle state information; constructing a new communication topological graph according to the formation communication topological graph and the formation member vehicle state information, and establishing communication with vehicles of the neighbor nodes according to the new communication topological graph; acquiring state information and expected formations of neighbor nodes; establishing a fixed time formation controller based on a dynamic event trigger mechanism according to the state information of the neighbor nodes and the expected formation; the formation construction adopts a fixed time formation controller of a distributed leader-free system to construct a new communication topological graph; the system has strong robustness, high fault tolerance and strong expandability.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a fixed time convergence queuing control system with a dynamic event triggering mechanism according to an embodiment of the present invention;
FIG. 2 is a topology of enqueue communications according to a first embodiment of the present invention;
FIG. 3 is a topology diagram of dequeue communication according to a first embodiment of the present invention;
FIG. 4 is a flowchart of a method for controlling fixed time convergence queuing of a dynamic event triggering mechanism according to a second embodiment of the present invention;
Fig. 5 is a flowchart of a fixed time convergence queuing control method of another dynamic event triggering mechanism according to a second embodiment of the present invention.
Icon:
1-an upstream module; 2-a fixed time formation controller; 3-a car networking module; a 4-V2X path end module; 11-decision module.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order to facilitate understanding of the present embodiment, the following describes embodiments of the present invention in detail.
Embodiment one:
fig. 1 is a schematic diagram of a fixed time convergence queuing control system with a dynamic event triggering mechanism according to an embodiment of the present invention.
Referring to fig. 1, the system includes: the system comprises an upstream module 1, a fixed time formation controller 2, a vehicle networking module 3 and a V2X road end module 4, wherein the upstream module 1 comprises a decision module 11;
The upstream module 1 and the vehicle networking module 3 are respectively connected with the fixed time formation controller 2, and the upstream module 1 and the V2X road end module 4 are respectively connected with the vehicle networking module 3;
an upstream module 1, configured to obtain scene information;
Here, the scene information includes one or more of existing formation information, vehicle information, positioning information, map information, and obstacle information. The upstream module 1 further comprises a positioning module, a map module, a perception module and the like.
The fixed time formation controller 2 is arranged in the control module, and the fixed time formation controller 2 is used for receiving information sent by the positioning module, the map module, the perception module and the car networking module.
The decision module 11 is configured to determine whether the scene information meets a formation condition, and if so, send formation request information to the V2X road end module 4 through the internet of vehicles module 3;
Here, if not satisfied, autonomous automatic driving is continued.
The V2X road end module 4 is used for initializing a fixed time formation controller after determining that a new member joins in formation according to formation request information, and acquiring a formation communication topological graph and formation member vehicle state information; constructing a new communication topological graph according to the formation communication topological graph and the formation member vehicle state information, and establishing communication with vehicles of the neighbor nodes according to the new communication topological graph;
acquiring state information and expected formations of neighbor nodes; and establishing a fixed time formation controller based on a dynamic event trigger mechanism according to the state information of the neighbor nodes and the expected formation.
Specifically, after the V2X road end module 4 performs security check, agreeing that a new member joins in formation, initializing the fixed time formation controller 2; if not, autonomous autopilot is continued. And constructing a new communication topological graph according to the formation communication topological graph and the formation member vehicle state information, wherein the new communication topological graph has connectivity and safety redundancy. Connectivity means that a new communication topological graph meets connectivity requirements, meanwhile, safety redundancy is considered, each formation member is provided with at least two neighbors, and when one neighbor state information is not credible, the other neighbor state information is adopted as update calculation of a control law. Referring to fig. 2, the broken line is a topological relation to be established (enqueued), when members in the formation are enqueued, a communication topological relation with connectivity and safety redundancy needs to be established, so that the enqueued formation system can still operate safely. Referring to fig. 3, the broken line is a topological relation to be relieved (dequeue), when members in the formation are dequeued, a communication topological relation with connectivity and safety redundancy needs to be established, so that the dequeued formation system can still operate safely. Wherein ego is a vehicle.
The new communication topological graph establishes communication with vehicles of the neighbor nodes, and the initialization information interaction data example comprises information such as own vehicle position, orientation, intention and the like.
Further, the fixed time formation controller 2 includes a cloud controller and a vehicle formation controller, and the vehicle formation controller includes an inner ring controller and an outer ring controller.
The outer ring controller is mainly responsible for calculating the expected control quantity (expected vehicle speed and expected direction) of the own vehicle according to the state information of the own vehicle, the state information of the neighbor nodes and the expected formation of the own vehicle and issuing the expected control quantity to the inner ring controller. Meanwhile, interaction with the internet of vehicles module is responsible, and the state information of the own vehicle and the state information of the neighbor nodes are updated to the V2X road end module.
The inner loop controller is responsible for more precise control of the vehicle with more vehicle kinematics and dynamics, which may be achieved by using the original controller of the vehicle, such as MPC, LQR, PID, etc.
Further, the decision module 11 is configured to determine whether the euclidean distance between the built formation and the latest formation meets a requirement, whether the euclidean distance exceeds a maximum formation number threshold, whether the vehicle is in a scene where the formation can be built, whether the internet of vehicles module obtains a formation entering request, and whether the V2X road end module meets the requirement of the formation building; and if so, transmitting formation request information to the V2X road end module through the Internet of vehicles module.
Further, each formation member is provided with a corresponding event trigger controller, and each event trigger controller manages dynamic variables of the corresponding formation member;
and the V2X road end module 4 is used for enabling the event trigger controller to update the dynamic variable when the event trigger condition is detected to be met, and calculating a trigger result according to the dynamic variable and the error item.
Here, the V2X roadside module 4 issues a status update command to the formation members when the event trigger condition is satisfied.
Further, the outer ring controller is used for acquiring state information of the self-vehicle; calculating the expected vehicle speed and the expected direction of the own vehicle according to the state information of the own vehicle, the state information of the neighbor nodes and the expected formation, and sending the expected vehicle speed and the expected direction to the inner ring controller;
the state information of the neighbor node is the state information of the nearest trigger time of the neighbor node.
Further, an inner loop controller is configured to calculate control inputs to the floor actuator based on the desired vehicle speed and the desired heading, wherein the floor actuator includes a steering wheel, a throttle, and a brake.
Specifically, the output of the event trigger is detected, and if it is an update command, the desired vehicle speed and desired heading of the own vehicle are sent to the inner loop controller, which performs more accurate tracking control.
And finally, the outer ring controller is responsible for sending the state information of the own vehicle and the state information of the neighbor nodes to the vehicle networking module for interaction with the V2X road end module.
The fixed time formation controller and the dynamic event triggering mechanism are specifically designed as follows:
first, pretreatment: in fig. 2 and 3, the formation system is described as an undirected topological connected graph based on graph theory, and information such as a formation system adjacency matrix, a laplace matrix and the like is initialized.
Second, in order to balance the computational efficiency and control accuracy of the entire formation system, the outer loop controller approximates the vehicle dynamics model using a numerical model, considering only the position and speed of the member, referring to formula (1):
Where f (t, x (t)): R +×RN→RN is a nonlinear function that is used to describe the nonlinear terms of the system. d i (t) is external unknown disturbance, the control input is u (t) = [ u 1(t),u2(t),…,uN(t)]T∈RN,R+ is a one-dimensional positive real number domain, R N is an N-dimensional real number domain, and i is a member number in formation.
The mathematical form of the formation system converging to the desired formation at a fixed time is referred to formula (2):
Where the desired formation is described by f= { epsilon 1,ε2,…,εN }, epsilon i is a vector representing the desired position of member i.
Third, the calculation result of the fixed time formation controller refers to formulas (3), (4) and (5):
wherein a ij is an adjacent matrix element, subscripts i and j, z i(t)＝xi(t)-εi, 0< p <1, q >1 are the ratio of positive odd numbers, alpha, beta, c, d are positive constants, all are controller parameters, The kth event trigger time for member i,The most recent event trigger time for member j,The sgn (·) is a sign function for the control input of member i, i.e., the calculation of the fixed time enqueue controller.
Currently, from the performance perspective of existing fixed time queuing controllers, gradual convergence is mainly divided into limited time convergence. Gradual time convergence, while capable of ensuring convergence, is uncertain in time and performance is susceptible to communication cycles and quality. Finite time convergence although there is an upper limit to the convergence time, the queuing system convergence time depends on the initial state of each member, and is no longer applicable when some of the initial states of the members are unknown or unreliable.
In the application, the fixed time formation controller comprises an outer ring controller, the process is that the outer ring controller calculates the control input of formation members according to the state information of the own vehicle and the state information of the neighbor nodes, the algorithm meets the property of fixed time convergence, and theoretical proof can be carried out through a fixed time stability criterion. The application is independent of the initial state of each member on the basis of the upper limit of the finite time convergence.
Fourth, dynamic event trigger mechanism: the defined dynamic variables refer to formula (6):
wherein a i,bi>0,δi∈(0,1],σi epsilon (0, 1), 0< p <1, q >1 are positive odd ratios are event trigger parameters, Is the derivative of the dynamic variable η i (t).
Error term h i (t) refers to equation (7):
The dynamic event trigger mechanism form refers to formula (8):
Wherein, Representing the kth trigger time of member i, σ max＝max{σi, i=1, … N,K=1, 2, …, θ i >0, i=1, 2, …, N, ρ are event trigger parameters. Lambda 2 is a eigenvalue of the system laplace matrix, determined by the laplace matrix of the formation topology.
In most of the current event trigger mechanism-based schemes, the threshold value of the event trigger mechanism is constant, which causes unnecessary events and controller updating, occupies communication and computing resources of the system, and omits important neighbor information, thereby reducing the overall formation performance.
In the application, the process is a core algorithm of an event trigger controller in a V2X road end module, and dynamic variables are maintained in the event trigger controller. The form of the event triggering mechanism can show that the threshold value of the event triggering is not constant and is determined by the dynamic variable related to the system state, so that the occupation of calculation and communication resources is reduced while the formation performance is ensured, and the effect of dynamic event triggering is further achieved.
In addition, the virtual structure method of the existing vehicle formation control strategy regards the whole vehicle formation system as a geometric rigid body, and the formation is relatively fixed, so that the formation is difficult to change during obstacle avoidance, and therefore, the whole obstacle avoidance can only be formed.
The artificial potential field method establishes potential fields according to formation members and environments, but potential field functions are complex in design, difficult to accurately describe environments and prone to local minimum problems.
From the perspective of a vehicle formation communication mechanism, the triggering mechanism method based on a fixed period is easy to cause data blocking, and is difficult to deal with the problems of communication time lag, packet loss and the like.
The application combines the vehicle networking module and the V2X road end module to realize an extensible and high-calculation-efficiency distributed self-organizing formation method, the V2X road end module is responsible for updating event triggers and coordinating information interaction among members in the formation, and the V2X road end module is also responsible for calculating control quantity, so that the calculation efficiency is high and the expansibility is good.
Compared with other formation control systems, the system does not depend on a leader, has strong expansibility and fault tolerance, and has better robustness. The distributed dynamic event trigger mechanism may reduce the occupation of computing and communication resources compared to fixed cycle trigger and event trigger mechanisms. The adoption of the distributed fixed time formation controller can enable the system to have an upper limit on convergence time and not depend on the initial state of the system, and can be applied to application scenes with accurate requirements on formation time.
In the simulation test, the system can be converged to the expected formation in a fixed time, compared with a static event trigger mechanism, the system can obviously reduce the times of events, reduce the occupation of communication and calculation resources and has no Zhinox phenomenon. The fixed time formation controller can ensure faster convergence speed while reducing occupation of communication and computing resources, and balances computing resources and formation performance.
Embodiment two:
Fig. 4 is a flowchart of a fixed time convergence queuing control method for a dynamic event triggering mechanism according to a second embodiment of the present invention.
Referring to fig. 4, the method includes the steps of:
step S101, scene information is acquired;
Step S102, judging whether the scene information meets the formation condition; if so, executing step S103; if not, executing step S104;
step S103, transmitting formation request information;
Step S104, continuously keeping autonomous automatic driving;
Step S105, initializing a fixed time formation controller after determining that a new member joins in formation according to formation request information;
Step S106, a formation communication topological graph and formation member vehicle state information are obtained;
Step S107, a new communication topological graph is constructed according to the formation communication topological graph and the formation member vehicle state information, and communication is established with vehicles of the neighbor nodes according to the new communication topological graph;
step S108, acquiring state information and expected formations of neighbor nodes;
Step S109, a fixed time formation controller based on a dynamic event trigger mechanism is established according to the state information of the neighbor nodes and the expected formation.
Fig. 5 is a flowchart of a fixed time convergence queuing control method of another dynamic event triggering mechanism according to a second embodiment of the present invention.
Referring to fig. 5, the method includes the steps of:
Step S201, when the event triggering condition is detected to be met, enabling the event triggering controller to update the dynamic variable;
step S202, calculating a trigger result according to the dynamic variable and the error item;
Here, step S201 and step S202 are performed by the V2X-way side module.
Step S203, acquiring state information of a self-vehicle, state information of a nearest triggering moment of a neighbor node, an expected formation and a triggering result;
step S204, detecting whether a triggering condition is met; if yes, step S205 is performed; if not, executing step S206;
Step S205, calculating the expected vehicle speed and the expected direction of the own vehicle according to the state information of the own vehicle, the state information of the neighbor nodes and the expected formation;
step S206, maintaining the output of the latest trigger time;
Step S207, the expected vehicle speed and the expected direction of the own vehicle are sent to an inner ring controller for tracking control;
In step S208, the inner loop controller calculates control inputs to the under-floor actuator based on the desired vehicle speed and the desired heading.
Here, steps S203 to S208 are performed by the own vehicle formation controller. The self-vehicle formation controller comprises an outer ring controller and an inner ring controller.
The embodiment of the invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the fixed time convergence formation control method of the dynamic event triggering mechanism provided by the embodiment when executing the computer program.
The embodiment of the present invention also provides a computer readable medium having a non-volatile program code executable by a processor, where a computer program is stored, and when the computer program is executed by the processor, the steps of the fixed time convergence formation control method of the dynamic event triggering mechanism of the above embodiment are performed.
The computer program product provided by the embodiment of the present invention includes a computer readable storage medium storing a program code, where instructions included in the program code may be used to perform the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment and will not be described herein.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
In addition, in the description of embodiments of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The fixed time convergence formation control system of the dynamic event trigger mechanism is characterized by comprising an upstream module, a fixed time formation controller, a vehicle networking module and a V2X road end module, wherein the upstream module comprises a decision module;
The upstream module and the vehicle networking module are respectively connected with the fixed time formation controller, and the upstream module and the V2X road end module are respectively connected with the vehicle networking module;
The upstream module is used for acquiring scene information;
The decision module is used for judging whether the scene information meets formation conditions, and if so, the vehicle networking module sends formation request information to the V2X road end module;
The V2X road end module is used for initializing the fixed time formation controller after determining that a new member joins in formation according to the formation request information, and acquiring a formation communication topological graph and formation member vehicle state information; constructing a new communication topological graph according to the formation communication topological graph and the formation member vehicle state information, and establishing communication with vehicles of neighbor nodes according to the new communication topological graph;
Acquiring state information and expected formations of the neighbor nodes; establishing the fixed time formation controller based on a dynamic event trigger mechanism according to the state information of the neighbor nodes and the expected formation;
the fixed time formation controller and the dynamic event triggering mechanism are specifically designed as follows:
In preprocessing, describing a formation system as an undirected topological connected graph based on graph theory, initializing a formation system adjacency matrix and a Laplace matrix;
The outer loop controller approximates the vehicle dynamics model using a numerical model, taking into account the position and velocity of the member, with reference to the following formula:
Wherein, f (t, x (t)): R +×RN→RN is a nonlinear function used to describe the nonlinear terms of the system; d i (t) is external unknown disturbance, the control input is u (t) = [ u 1(t),u2(t),…,uN(t)]T∈RN,R+ is a one-dimensional positive real number domain, R N is an N-dimensional real number domain, and i is a member number in formation;
the mathematical form of the formation system converging on the desired formation at a fixed time is referred to by the following formula:
Wherein the desired formation is described by f= { epsilon 1,ε2,…,εN }, epsilon i being a vector representing the desired position of member i;
The calculation result of the fixed time formation controller refers to the following formula:
wherein a ij is an adjacent matrix element, subscripts i and j, z i(t)＝xi(t)-εi, 0< p <1, q >1 are the ratio of positive odd numbers, alpha, beta, c, d are positive constants, all are controller parameters, The kth event trigger time for member i,The most recent event trigger time for member j,A control input of the member i, namely a calculation result of the fixed time formation controller, sgn (·) is a sign function;
The fixed time formation controller comprises the outer ring controller, and the outer ring controller calculates control input of formation members according to state information of a vehicle and state information of the neighbor nodes;
The dynamic event trigger mechanism: the defined dynamic variables refer to the following formula:
wherein a i,bi>0,δi∈(0,1],σi epsilon (0, 1), 0< p <1, q >1 are positive odd ratios are event trigger parameters, Is the differentiation of the dynamic variable η i (t);
The error term h i (t) refers to the following formula:
the dynamic event trigger mechanism format refers to the following formula:
Wherein, Representing the kth trigger time of member i, σ max＝max{σi, i=1, … N,K=1, 2, …, θ i >0, i=1, 2, …, N, ρ are event trigger parameters; lambda 2 is a eigenvalue of the laplace matrix, determined by the laplace matrix of the formation topology.
2. The system of claim 1, wherein the fixed time enqueue controller comprises a cloud controller and a vehicle enqueue controller, the vehicle enqueue controller comprising an inner loop controller and the outer loop controller.
3. The system of claim 1, wherein the decision module is configured to determine whether a euclidean distance between a built formation and a most recent formation meets a requirement, whether a maximum formation number threshold is exceeded, whether the vehicle is in a platooable scenario, whether the internet of vehicles module obtains a platooning request, and whether the V2X road end module meets a platooning requirement; and if so, sending the formation request information to the V2X road end module through the Internet of vehicles module.
4. The fixed time convergence queuing control system as claimed in claim 1, wherein each queuing member is provided with a corresponding event-triggered controller, and each event-triggered controller manages dynamic variables of the corresponding queuing member;
And the V2X road end module is used for enabling the event trigger controller to update the dynamic variable when the event trigger condition is detected to be met, and calculating a trigger result according to the dynamic variable and the error item.
5. The fixed time convergence queuing control system as claimed in claim 2, wherein said outer loop controller is configured to obtain status information of a vehicle; calculating the expected vehicle speed and the expected direction of the own vehicle according to the state information of the own vehicle, the state information of the neighbor nodes and the expected formation, and sending the expected vehicle speed and the expected direction to the inner ring controller;
The state information of the neighbor node is the state information of the neighbor node at the latest trigger time.
6. The fixed time convergence enqueuing control system for a dynamic event-triggered mechanism as set forth in claim 5, wherein said inner loop controller is configured to calculate control inputs for an underlying actuator based on said desired vehicle speed and said desired heading, wherein said underlying actuator comprises a steering wheel, a throttle, and a brake.
7. The system of claim 1, wherein the scene information comprises one or more of existing formation information, vehicle information, positioning information, map information, and obstacle information.
8. A method for controlling fixed time convergence queuing of a dynamic event trigger mechanism, the method comprising:
Acquiring scene information;
Judging whether the scene information meets formation conditions or not;
If yes, transmitting formation request information;
After determining that a new member joins in formation according to the formation request information, initializing a fixed time formation controller;
Acquiring a formation communication topological graph and formation member vehicle state information;
Constructing a new communication topological graph according to the formation communication topological graph and the formation member vehicle state information, and establishing communication with vehicles of neighbor nodes according to the new communication topological graph;
Acquiring state information and expected formations of the neighbor nodes;
Establishing the fixed time formation controller based on a dynamic event trigger mechanism according to the state information of the neighbor nodes and the expected formation;
the fixed time formation controller and the dynamic event triggering mechanism are specifically designed as follows:
In preprocessing, describing a formation system as an undirected topological connected graph based on graph theory, initializing a formation system adjacency matrix and a Laplace matrix;
The outer loop controller approximates the vehicle dynamics model using a numerical model, taking into account the position and velocity of the member, with reference to the following formula:
Wherein, f (t, x (t)): R +×RN→RN is a nonlinear function used to describe the nonlinear terms of the system; d i (t) is external unknown disturbance, the control input is u (t) = [ u 1(t),u2(t),…,uN(t)]T∈RN,R+ is a one-dimensional positive real number domain, R N is an N-dimensional real number domain, and i is a member number in formation;
the mathematical form of the formation system converging on the desired formation at a fixed time is referred to by the following formula:
Wherein the desired formation is described by f= { epsilon 1,ε2,…,εN }, epsilon i being a vector representing the desired position of member i;
The calculation result of the fixed time formation controller refers to the following formula:
wherein a ij is an adjacent matrix element, subscripts i and j, z i(t)＝xi(t)-εi, 0< p <1, q >1 are the ratio of positive odd numbers, alpha, beta, c, d are positive constants, all are controller parameters, The kth event trigger time for member i,The most recent event trigger time for member j,A control input of the member i, namely a calculation result of the fixed time formation controller, sgn (·) is a sign function;
The fixed time formation controller comprises the outer ring controller, and the outer ring controller calculates control input of formation members according to state information of a vehicle and state information of the neighbor nodes;
The dynamic event trigger mechanism: the defined dynamic variables refer to the following formula:
wherein a i,bi>0,δi∈(0,1],σi epsilon (0, 1), 0< p <1, q >1 are positive odd ratios are event trigger parameters, Is the differentiation of the dynamic variable η i (t);
The error term h i (t) refers to the following formula:
the dynamic event trigger mechanism format refers to the following formula:
Wherein, Representing the kth trigger time of member i, σ max＝max{σi, i=1, … N,K=1, 2, …, θ i >0, i=1, 2, …, N, ρ are event trigger parameters; lambda 2 is a eigenvalue of the laplace matrix, determined by the laplace matrix of the formation topology.
9. An electronic device comprising a memory, a processor, the memory having stored thereon a computer program executable on the processor, characterized in that the processor implements the method of claim 8 when executing the computer program.
10. A computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method of claim 8.
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