CN114670831A - Vehicle formation control method - Google Patents

Vehicle formation control method Download PDF

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Publication number
CN114670831A
CN114670831A CN202210539000.3A CN202210539000A CN114670831A CN 114670831 A CN114670831 A CN 114670831A CN 202210539000 A CN202210539000 A CN 202210539000A CN 114670831 A CN114670831 A CN 114670831A
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vehicle
formation
pilot
following
track
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CN114670831B (en
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蒋金
康林
刘志伟
林思学
吴焜昌
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Xiamen King Long United Automotive Industry Co Ltd
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Xiamen King Long United Automotive Industry Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention relates to the technical field of vehicle formation, in particular to a vehicle formation control method, which comprises the steps of constructing an integral interaction scheme, issuing a formation composition instruction by a pilot vehicle, receiving the formation composition instruction by a following vehicle, and judging whether a front vehicle enters a formation state and judging whether the position of the pilot vehicle meets a constraint condition; when the conditions are met, the vehicle enters a formation mode along with the vehicle, and simultaneously trajectory planning and following are carried out; when the following vehicle enters the piloting vehicle track, the following vehicle enters the formation state, the formation state mark is sent, and tracking control is carried out on the piloting vehicle track. When the following vehicles enter the formation mode, the method adopts a special mode to plan the tracks of the following vehicles, ensures the continuous curvature of the tracks, and realizes that the transverse control target does not change suddenly when the running tracks of the following vehicles are accessed to the running tracks of the pilot vehicle, thereby reducing the transverse error of the following vehicles.

Description

Vehicle formation control method
Technical Field
The invention relates to the technical field of vehicle formation, in particular to a vehicle formation control method.
Background
Vehicle formation technology is widely researched in recent years, and the technology means that under certain specific scenes, a fleet is automatically formed by a plurality of vehicles, the first vehicle is used as a pilot vehicle, a plurality of following vehicles automatically follow the pilot vehicle at a small vehicle distance, and the following vehicles can be only provided with a security guard or even driven by no people. The technology effectively solves the problem of traffic jam, improves the traffic efficiency, reduces the energy consumption of a fleet of vehicles, and can greatly reduce the fatigue of long-distance driving of a driver while increasing the carrying capacity of people and goods. And because the inter-vehicle distance that the vehicle formation traveles is little, can obviously reduce the vehicle and travel the windage under higher speed to reduce the motorcade energy consumption, saved the operation cost.
In the prior vehicle formation technology, most of following vehicles (n vehicles) follow the running track of a front vehicle (n-1 vehicles), and the errors are accumulated one by one due to the existence of transverse control errors, so that the more rear vehicles in the formation are, the larger the transverse position deviation is, and the problem of transverse error accumulation exists; in addition, most of the current vehicle formation technologies are track tracking based on positioning information, and the problem of positioning information drift is inevitably encountered.
Disclosure of Invention
In order to solve the technical problem, the invention provides a vehicle formation control method.
The invention adopts the following technical scheme:
a vehicle formation control method comprising the steps of:
initializing and constructing an integral interaction scheme; namely, the total number of vehicles contained in the vehicle formation is N (N is more than or equal to 2), and the number of a single vehicle is N (N:)
Figure DEST_PATH_IMAGE001
) The number of the bicycle is N =1, the navigation vehicle is used, and the number of the bicycle is N =2, 3 and … … N, the following vehicle is used;setting the content of the information packet sent by the pilot vehicle, broadcasting and sending the information packet by all vehicles in real time through a V2V technology, and simultaneously receiving the pilot vehicle and the n number vehicle (n is more than or equal to 2)
Figure DEST_PATH_IMAGE002
Information packet of the car number;
step two, judging whether the pilot vehicle issues a formation composition instruction, if so, entering step two, and if not, entering step one;
step three, after the vehicle number n (the vehicle) receives a formation composition instruction of a pilot vehicle, judging whether the vehicle number n-1 (the front vehicle) enters a formation state, if so, entering the step four, and if not, entering the step two;
step four, judging whether the position of the pilot vehicle meets constraint conditions, if so, entering step five, and if not, entering step three;
step five, the position of the piloting vehicle meets the constraint condition, and the vehicle carries out trajectory planning and follows; firstly, at the current moment when the vehicle enters a formation mode, taking the current position of the vehicle as a coordinate origin and the current orientation of the vehicle as an x-axis geodetic coordinate system, simultaneously recording longitude and latitude coordinates and a course angle of a pilot vehicle at the moment, taking the longitude and latitude coordinates and the course angle as a target position state of the path planning of the vehicle, and planning a curve accessed to the driving path of the pilot vehicle in a path planning mode; secondly, at the moment when the vehicle enters the formation mode, the longitude and latitude coordinates and the course angle of the front vehicle are stored in real time as the running track information of the pilot vehicle and are stored in the controller, meanwhile, the track point which is closest to the current position of the vehicle on the running track of the pilot vehicle is calculated according to the position of the vehicle, and then the transverse distance deviation between the vehicle and the track point is calculated according to the longitude and latitude coordinates and the course angle of the track point
Figure DEST_PATH_IMAGE004
Deviation of course angle
Figure DEST_PATH_IMAGE006
(ii) a Then entering a step six;
step six, judging whether the vehicle enters a piloting vehicle track, namely when the vehicle finishes the track planning of the previous step and the vehicle reaches the track of the piloting vehicle along the track, enabling the vehicle to enter a formation state, entering the step seven, and otherwise, entering the step five;
step seven, the vehicle enters the formation state, simultaneously sends the formation state flag to be 1, starts to carry out tracking control on the track of the pilot vehicle, starts to follow by taking the track point as a tracking target, and sends the following result to the pilot vehicle
Figure 819576DEST_PATH_IMAGE004
And inputting the transverse control module, thereby realizing the tracking control of the navigator track.
Further, the information packet content sent by the pilot vehicle comprises longitude and latitude coordinates, a course angle, a vehicle speed V, a steering wheel corner A, an actual brake opening B and a formation composition instruction of the pilot vehicle; the information packet content sent by the following vehicle comprises longitude and latitude coordinates, a course angle, a vehicle speed V, a steering wheel corner A, an actual braking opening degree B and a formation state mark 0 or 1 (the mark is 0 to indicate that the following vehicle does not enter the formation state, and the mark is 1 to indicate that the following vehicle enters the formation state).
Further, in the fourth step, each following vehicle establishes a vehicle coordinate system with the real-time position of the vehicle as the coordinate origin and the real-time orientation of the vehicle as the x-axis, records the longitude and latitude coordinates and the course angle of the pilot vehicle at the moment, performs coordinate transformation, and calculates the course angle of the pilot vehicle under the vehicle coordinate system of the vehicle
Figure DEST_PATH_IMAGE008
Angle of position
Figure DEST_PATH_IMAGE010
X-coordinate, y-coordinate. In order to ensure the performability of the track planning, constraint conditions for following the vehicle to enter a formation mode are set
Figure DEST_PATH_IMAGE012
、
Figure DEST_PATH_IMAGE014
Wherein
Figure DEST_PATH_IMAGE016
And X is a threshold value set according to the vehicle speed, the position of the pilot vehicle meets the above conditions, and the following vehicle can enter a formation mode.
Further, in the fifth step, five times of multi-item planning are adopted for trajectory planning.
Furthermore, a vehicle formation controller and a drive-by-wire chassis controller are arranged on the vehicle, and the drive-by-wire chassis controller is used for receiving vehicle control instructions for vehicle formation control, uniformly coordinating and processing the instructions and then sending the instructions to a driving motor, a braking system and a steering system; the control interface between the formation controller and the drive-by-wire chassis controller is steering wheel angle command
Figure DEST_PATH_IMAGE018
Throttle opening degree instruction
Figure DEST_PATH_IMAGE020
(0-100%) and brake opening command
Figure DEST_PATH_IMAGE022
(0-100%); the drive-by-wire chassis controller receives an accelerator opening instruction
Figure 487449DEST_PATH_IMAGE020
Converting the command into a motor torque command and sending the motor torque command to a motor controller; receiving a brake opening command
Figure 595083DEST_PATH_IMAGE022
And converting the command into a brake pressure request and sending the brake pressure request to the brake controller.
Further, in the seventh step, when the vehicle enters the formation state along with the following vehicle, the track of the pilot vehicle is transversely tracked, and the longitudinal control target keeps a fixed distance from the front vehicle; in the longitudinal control of the following vehicles, the target distance between two adjacent vehicles in formation is set to be
Figure DEST_PATH_IMAGE024
(ii) a The actual distance between the front vehicle and the rear vehicle is
Figure DEST_PATH_IMAGE026
(ii) a Front vehicle speed
Figure DEST_PATH_IMAGE028
(ii) a The speed of the vehicle is
Figure DEST_PATH_IMAGE030
Designing a double-feedback PID closed-loop controller, and designing a double-feedback PID closed-loop controller according to the following steps that the speed error of a front vehicle is taken as a tracking target
Figure DEST_PATH_IMAGE032
(ii) a At a target distance
Figure 787030DEST_PATH_IMAGE024
For control purposes, distance error
Figure DEST_PATH_IMAGE034
. Weight coefficient of designed vehicle speed error
Figure DEST_PATH_IMAGE036
And weight coefficient of distance error
Figure DEST_PATH_IMAGE038
So that the total error is
Figure DEST_PATH_IMAGE040
. Will be provided with
Figure DEST_PATH_IMAGE042
Input to a PID feedback controller whose output is
Figure DEST_PATH_IMAGE044
，
Figure 24238DEST_PATH_IMAGE044
The limiting range is [ -100,100 [)]When is coming into contact with
Figure 440176DEST_PATH_IMAGE044
A value of (0,100)]Then, the throttle opening degree is instructed
Figure DEST_PATH_IMAGE046
Sending; when in use
Figure 441630DEST_PATH_IMAGE044
Value of-100, 0), the brake opening is commanded
Figure DEST_PATH_IMAGE048
Sending, adding the actual braking opening B of the front vehicle for compensation control, and finally outputting
Figure DEST_PATH_IMAGE050
To be finally output
Figure DEST_PATH_IMAGE052
Make range limitation
Figure DEST_PATH_IMAGE053
。
Further, in the seventh step, the lateral control of the vehicle, i.e. the following vehicle, is to design a lateral fuzzy PID feedback controller based on preview and to deviate the lateral distance
Figure DEST_PATH_IMAGE055
Deviation of course angle
Figure DEST_PATH_IMAGE057
An input controller having an output of
Figure 328946DEST_PATH_IMAGE044
Adding the actual steering wheel angle A of the pilot vehicle for compensation control, and finally outputting
Figure DEST_PATH_IMAGE059
。
Further, the
Figure DEST_PATH_IMAGE061
Upper and lower limit of
Figure DEST_PATH_IMAGE063
Therein is described
Figure DEST_PATH_IMAGE065
The offset of the steering wheel rotation angle limiting range can be set to be 50-200 degrees according to actual conditions.
From the above description of the structure of the present invention, compared with the prior art, the present invention has the following advantages:
1. the invention relates to a vehicle formation control method, which comprises the steps of firstly initializing and constructing an integral interaction scheme, issuing a formation composition instruction by a pilot vehicle, when a vehicle number n receives the formation composition instruction of the pilot vehicle, and simultaneously the vehicle number n-1 enters a formation state, starting to enter a formation mode if conditions allow, and broadcasting and sending a formation composition state mark to be 1 after the vehicle number n successfully enters the formation state, wherein five times and more planning of track planning of a following vehicle are carried out by adopting a special mode when the following vehicle enters the formation mode, so that the track curvature is continuous, when the running track of the following vehicle is accessed into the running track of the pilot vehicle, a transverse control target does not generate sudden change, the transverse error of the following vehicle is further reduced, and the transverse error accumulation is reduced. In addition, the invention provides that whether the following vehicles meet the constraint condition or not before entering the formation mode can realize the simultaneous tracking of the running tracks of the pilot vehicles and simultaneously control the distance between the following vehicles and the front vehicle in the longitudinal direction, thereby further solving the problem of transverse error accumulation.
2. The invention follows the vehicle in the formation state, and the transverse distance deviation is carried out by the transverse fuzzy PID feedback controller of the preview
Figure DEST_PATH_IMAGE067
Course angle deviation
Figure DEST_PATH_IMAGE069
An input controller having an output of
Figure 623923DEST_PATH_IMAGE044
In order to ensure the stability of the transverse control, the transverse steady-state error as small as possible and the faster control response speed, the actual steering wheel rotating angle A of the pilot vehicle is added for compensation control, and finally output
Figure DEST_PATH_IMAGE071
. At the same time, in order to prevent the uncontrollable effect caused by the drift of the vehicle positioning information, the limitation is carried out
Figure DEST_PATH_IMAGE073
Have upper and lower limits of
Figure 414024DEST_PATH_IMAGE063
In which
Figure 433933DEST_PATH_IMAGE065
The offset of the steering wheel corner limiting range can be set to be 50-200 degrees according to actual conditions, so that the serious consequence of lateral sudden runaway caused by positioning drift can be greatly avoided.
3. When the following vehicles are in a formation state, the target distance between two adjacent vehicles in the formation is set to be
Figure DEST_PATH_IMAGE075
(ii) a The actual distance between the front vehicle and the rear vehicle is
Figure DEST_PATH_IMAGE077
(ii) a Front vehicle speed
Figure DEST_PATH_IMAGE079
(ii) a The speed of the vehicle is
Figure DEST_PATH_IMAGE081
Designing a double-feedback PID closed-loop controller, and determining the speed error when the speed of the front vehicle is a tracking target
Figure DEST_PATH_IMAGE083
(ii) a At a target interval
Figure DEST_PATH_IMAGE085
For control purposes, distance error
Figure DEST_PATH_IMAGE087
Designing the weight coefficient of the vehicle speed error
Figure DEST_PATH_IMAGE089
And weight coefficient of distance error
Figure DEST_PATH_IMAGE091
So that the total error is
Figure DEST_PATH_IMAGE093
(ii) a Will sum up the error
Figure DEST_PATH_IMAGE095
Input to a PID feedback controller, the output of which is
Figure 175538DEST_PATH_IMAGE044
，
Figure 964502DEST_PATH_IMAGE044
The limiting range is [ -100,100 [)]When is coming into contact with
Figure 597609DEST_PATH_IMAGE044
A value of (0,100)]Then, the throttle opening degree is instructed
Figure DEST_PATH_IMAGE097
Sending; when the temperature is higher than the set temperature
Figure 698289DEST_PATH_IMAGE044
Value of-100, 0), the brake opening is commanded
Figure DEST_PATH_IMAGE099
Sending; in order to accelerate the response speed of braking as much as possible, namely the front vehicle makes braking action and the rear vehicle can generate corresponding braking action in time, the actual braking opening degree B of the front vehicle needs to be added for compensation control, and the final output is
Figure DEST_PATH_IMAGE101
(ii) a While the final output is to prevent the uncontrollable effect caused by the drift of the vehicle positioning information
Figure DEST_PATH_IMAGE103
Make range limitation
Figure 35729DEST_PATH_IMAGE053
That is, the braking strength of the rear vehicle cannot be lower than that of the front vehicle, so that the risk of rear-end collision of the formation can be greatly avoided.
5. According to the invention, when the following vehicle is in a formation state and the tracking control is carried out on the piloted vehicle track, the steering wheel angle information of the piloted vehicle and the braking signal of the front vehicle are introduced into the following vehicle for compensation control and limitation, so that the possibility of sudden out-of-control of the vehicle caused by positioning drift is greatly reduced.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic diagram of the trajectory planning and following of the following vehicle of the present invention;
fig. 3 is a block diagram of the vehicle formation controller and the drive-by-wire chassis controller according to the present invention.
Detailed Description
The following describes specific embodiments of the present invention with reference to the drawings.
Referring to fig. 1, a vehicle formation control method includes the steps of,
step one, initializing, and constructing an integral interaction scheme, specifically comprising:
the total number of vehicles contained in the vehicle formation is N (N is more than or equal to 2), and the number of the single vehicle is N (
Figure DEST_PATH_IMAGE105
N =2 for pilot car, N2, 3 … … N for follower car). The content of the information packet sent by the pilot vehicle is set as follows: longitude and latitude coordinates, a course angle, a vehicle speed V, a steering wheel corner A, an actual braking opening B and a formation composition instruction; the information packet content sent by the following vehicle is set as follows: longitude and latitude coordinates, course angle, vehicle speed V and steering wheelThe following vehicle is in a formation state, and the rotation angle A, the actual braking opening B and the formation state flag are 0 or 1 (the flag is 0 to indicate that the following vehicle does not enter the formation state, and the flag is 1 to indicate that the following vehicle enters the formation state). All vehicles broadcast and send the information packets in real time through a V2V technology, and n vehicles (n is more than or equal to 2) receive the pilot vehicle and the pilot vehicle at the same time
Figure DEST_PATH_IMAGE107
Information package of the car number (preceding car).
And step two, judging whether the pilot vehicle issues a formation composition instruction, if so, entering step two, and if not, entering step one.
Step three, after the n number vehicles (namely the vehicle, namely the following vehicle) receive the formation composition instruction of the pilot vehicle, simultaneously judging
Figure 977403DEST_PATH_IMAGE107
And (4) whether the vehicle number (the front vehicle) enters a formation state, if yes, entering a step four, and if not, entering a step two.
When the vehicle number n is the vehicle number 2, if the condition is allowed (specific condition is given below), the formation mode is entered first, and after the vehicle number 2 successfully enters the formation state (specific condition is given below), the formation state flag is broadcast and sent to be 1. After the 3 # vehicle receives the issued formation composition instruction of the pilot vehicle and the formation composition status flag bit of the 2 # vehicle is 1, if the condition allows, the 3 # vehicle starts to enter the formation mode, and after the formation status is successfully entered, the 3 # vehicle broadcasts and sends the formation composition status flag to be 1. By analogy, when the n number vehicles receive the formation composition instruction of the pilot vehicle, and simultaneously
Figure 578148DEST_PATH_IMAGE107
The number vehicle enters a formation state, at the moment, the number n vehicle starts to enter a formation mode if conditions allow, and after the number n vehicle successfully enters the formation state, a broadcast transmission formation composition state mark is 1.
And step four, judging whether the position of the pilot vehicle meets the constraint condition, if so, entering the step five, and if not, entering the step three. The method specifically comprises the following steps:
each following vehicle establishes a vehicle coordinate system with the real-time position of the vehicle as the origin of coordinates and the real-time orientation of the vehicle as the x axis, records the longitude and latitude coordinates and the course angle of the pilot vehicle at the moment, performs coordinate transformation, and calculates the course angle of the pilot vehicle under the vehicle coordinate system of the vehicle
Figure DEST_PATH_IMAGE109
Angle of position
Figure DEST_PATH_IMAGE111
X-coordinate, y-coordinate. In order to ensure the performability of the track planning, constraint conditions for following the vehicle to enter a formation mode are set
Figure DEST_PATH_IMAGE113
、
Figure DEST_PATH_IMAGE115
In which
Figure DEST_PATH_IMAGE117
And X is a threshold value set according to the vehicle speed, the vehicle speed is high, and the threshold value can be set to be smaller
Figure 166125DEST_PATH_IMAGE016
A value and a larger value of X; low vehicle speed and large setting
Figure DEST_PATH_IMAGE119
Values and smaller X values.
Step five, the position of the pilot vehicle meets the constraint condition, and the vehicle (following vehicle) carries out trajectory planning and following, as shown in fig. 2, the method specifically comprises the following steps:
firstly, at the current moment when the following vehicle enters the formation mode, a geodetic coordinate system with the current position of the vehicle as the coordinate origin and the current orientation of the vehicle as the x axis is established, and simultaneously, longitude and latitude coordinates and a course angle of a pilot vehicle at the moment are recorded and used as the target position state of the path planning of the vehicle, and a curve accessed to the driving path of the pilot vehicle is planned through a path planning mode. The trajectory planning mode adopts five times of planning and multiple times of planning, and the planning method can ensure that the curvature of the trajectory is continuous, namely, when the running trajectory of the following vehicle is accessed to the running trajectory of the pilot vehicle, the transverse control target does not change suddenly.
Secondly, at the moment when the following vehicle enters the formation mode, the longitude and latitude coordinates and the course angle of the front vehicle are stored in real time as the running track information of the pilot vehicle and are stored in the controller, meanwhile, the track point (matching point) closest to the current position of the vehicle on the running track of the pilot vehicle is calculated according to the position of the vehicle of the following vehicle, and then the transverse distance deviation and the course angle deviation between the vehicle and the matching point are calculated according to the longitude and latitude coordinates and the course angle of the matching point
Figure DEST_PATH_IMAGE121
. Subsequently, step six is entered.
And step six, judging whether the vehicle enters a piloting vehicle track, namely when the vehicle finishes the track planning of the previous step and the vehicle arrives at the piloting vehicle track along with the track, enabling the vehicle to enter a formation state, entering the step seven, and otherwise, entering the step five.
Step seven, the vehicle enters the formation state, simultaneously sends the formation state flag to be 1, starts to carry out tracking control on the track of the pilot vehicle, starts to follow by taking the track point as a tracking target, and sends the following result to the pilot vehicle
Figure DEST_PATH_IMAGE123
And
Figure DEST_PATH_IMAGE125
and inputting the transverse control module to realize the tracking control of the navigator track.
And seventhly, when the following vehicle starts to carry out tracking control on the track of the pilot vehicle, controlling the transverse direction and the longitudinal direction of the following vehicle based on a vehicle drive-by-wire interface. The specific control method comprises the following steps:
firstly, as shown in fig. 3, a vehicle formation controller and a drive-by-wire chassis controller are installed on the vehicle, and the drive-by-wire chassis controller is used for receiving the vehicle control command of the upper layer (vehicle formation controller), uniformly coordinating and processing the command, and then sending the command to each execution mechanism (driving motor, braking system, rotary mechanism)To the system, etc.). The main transverse and longitudinal control interfaces of the vehicle formation controller and the drive-by-wire chassis controller are as follows: steering wheel angle command
Figure DEST_PATH_IMAGE127
Throttle opening degree instruction
Figure DEST_PATH_IMAGE129
(0-100%), brake opening command
Figure DEST_PATH_IMAGE131
(0-100%). The drive-by-wire chassis controller receives an accelerator opening instruction
Figure DEST_PATH_IMAGE133
Converting the command into a motor torque command and sending the motor torque command to a motor controller; receiving a brake opening command
Figure DEST_PATH_IMAGE135
And converting the command into a brake pressure request and sending the brake pressure request to the brake controller.
Secondly, longitudinal control of the following vehicle is realized; namely, the following vehicle tracks the track of the pilot vehicle in the state of being in a queue, and the longitudinal control target keeps a fixed distance with the front vehicle. Since the distance is an integral of the vehicle speed, simple distance control has poor response sensitivity and is liable to cause hunting of control, and therefore, the vehicle speed of the front vehicle is introduced for control, and the control target is that the vehicle and the front vehicle have the same vehicle speed. Setting a target distance between two adjacent formation vehicles as
Figure DEST_PATH_IMAGE137
(ii) a The actual distance between the front vehicle and the rear vehicle is
Figure DEST_PATH_IMAGE139
(ii) a Front vehicle speed
Figure DEST_PATH_IMAGE141
(ii) a The speed of the vehicle is
Figure DEST_PATH_IMAGE143
Designing a double-feedback PID closed-loop controller, comprising the following steps:
the speed error of the front vehicle is taken as the tracking target
Figure DEST_PATH_IMAGE145
(ii) a At a target distance
Figure DEST_PATH_IMAGE147
For control purposes, distance error
Figure DEST_PATH_IMAGE149
. Weight coefficient of designed vehicle speed error
Figure DEST_PATH_IMAGE151
And weight coefficient of distance error
Figure DEST_PATH_IMAGE153
So that the total error is
Figure DEST_PATH_IMAGE155
. Will be input to a PID feedback controller, the output of which is
Figure DEST_PATH_IMAGE157
，
Figure 526830DEST_PATH_IMAGE157
The limiting range is [ -100,100 [)]When is coming into contact with
Figure 290387DEST_PATH_IMAGE157
A value of (0,100)]Then sending the command of the opening degree of the accelerator
Figure DEST_PATH_IMAGE159
(ii) a When in use
Figure 156974DEST_PATH_IMAGE157
Value of-100, 0), the brake opening is commanded
Figure DEST_PATH_IMAGE161
And (5) sending.
In order to accelerate the response speed of braking as much as possible, namely the front vehicle makes braking action and the rear vehicle can generate corresponding braking action in time, the actual braking opening degree B of the front vehicle needs to be added for compensation control, and the final output is
Figure DEST_PATH_IMAGE163
. While the final output is to prevent the uncontrollable effect caused by the drift of the vehicle positioning information
Figure DEST_PATH_IMAGE165
Make range limitation
Figure 169929DEST_PATH_IMAGE053
That is, the braking strength of the rear vehicle cannot be lower than that of the front vehicle, so that the risk of rear-end collision of the formation can be greatly avoided.
Longitudinal control of the following vehicle is realized; designing a horizontal fuzzy PID feedback controller based on preview to deviate the horizontal distance
Figure DEST_PATH_IMAGE167
Deviation of course angle
Figure DEST_PATH_IMAGE169
An input controller having an output of
Figure DEST_PATH_IMAGE171
. In order to ensure the stability of the transverse control, the transverse steady-state error as small as possible and the faster control response speed, the actual steering wheel rotating angle A of the pilot vehicle is added for compensation control, and finally output
Figure DEST_PATH_IMAGE173
. At the same time, in order to prevent the uncontrollable effect caused by the drift of the vehicle positioning information, the limitation is carried out
Figure DEST_PATH_IMAGE175
Have upper and lower limits of
Figure 583593DEST_PATH_IMAGE063
Wherein
Figure 263973DEST_PATH_IMAGE065
The offset of the steering wheel corner limiting range can be set to be 50-200 degrees according to actual conditions, so that the serious consequence of lateral sudden runaway caused by positioning drift can be greatly avoided.
The above description is only an embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using the design concept should fall within the scope of infringing the present invention.

Claims (8)

1. A vehicle formation control method, characterized by comprising the steps of:
initializing and constructing an integral interaction scheme; namely, the total number of vehicles contained in the vehicle formation is designed to be N (N)
Figure 66611DEST_PATH_IMAGE001
2) The bicycle is numbered n: (
Figure 813987DEST_PATH_IMAGE002
) The bicycle is numbered n
Figure 227651DEST_PATH_IMAGE003
1 is a pilot vehicle, and the number of a single vehicle is n
Figure 127605DEST_PATH_IMAGE003
2. 3, … … N is the following vehicle; setting the content of the information packet sent by the pilot vehicle, broadcasting and sending the information packet by all vehicles in real time through a V2V technology, and simultaneously receiving the pilot vehicle and n by n vehicles (n is more than or equal to 2)
Figure 601312DEST_PATH_IMAGE004
Information package of car number 1;
step two, judging whether the pilot vehicle issues a formation composition instruction, if so, entering step two, and if not, entering step one;
step three, after the n number vehicles (the vehicle) receive the formation composition instruction of the pilot vehicle, simultaneously judging n
Figure 835984DEST_PATH_IMAGE004
Whether the No. 1 vehicle (front vehicle) enters a formation state or not, if yes, entering a step four, and if not, entering a step two;
step four, judging whether the position of the pilot vehicle meets constraint conditions, if so, entering step five, and if not, entering step three;
step five, the position of the piloting vehicle meets the constraint condition, and the vehicle carries out trajectory planning and follows; firstly, at the current moment when the vehicle enters a formation mode, taking the current position of the vehicle as a coordinate origin and the current orientation of the vehicle as an x-axis geodetic coordinate system, simultaneously recording longitude and latitude coordinates and a course angle of a pilot vehicle at the moment, taking the longitude and latitude coordinates and the course angle as a target position state of the path planning of the vehicle, and planning a curve accessed to the driving path of the pilot vehicle in a path planning mode; secondly, at the moment when the vehicle enters the formation mode, the longitude and latitude coordinates and the course angle of the front vehicle are stored in real time as the running track information of the pilot vehicle and are stored in the controller, meanwhile, the track point which is closest to the current position of the vehicle on the running track of the pilot vehicle is calculated according to the position of the vehicle, and then the transverse distance deviation between the vehicle and the track point is calculated according to the longitude and latitude coordinates and the course angle of the track point
Figure 538492DEST_PATH_IMAGE005
Course angle deviation
Figure 807799DEST_PATH_IMAGE006
(ii) a Then entering a step six;
step six, judging whether the vehicle enters a piloting vehicle track, namely when the vehicle finishes the track planning of the previous step and the vehicle reaches the track of the piloting vehicle along the track, enabling the vehicle to enter a formation state, entering the step seven, and otherwise, entering the step five;
step seven, the vehicle enters the formation state, simultaneously sends the formation state flag to be 1, starts to carry out tracking control on the track of the pilot vehicle, starts to follow by taking the track point as a tracking target, and sends the following result to the pilot vehicle
Figure 717986DEST_PATH_IMAGE005
And
Figure 190687DEST_PATH_IMAGE006
and inputting the transverse control module to realize the tracking control of the navigator track.
2. A vehicle formation control method according to claim 1, characterized in that: the information packet content sent by the pilot vehicle comprises longitude and latitude coordinates, a course angle, a vehicle speed V, a steering wheel corner A, an actual braking opening B and a formation composition instruction of the pilot vehicle; the information packet content sent by the following vehicle comprises longitude and latitude coordinates, a course angle, a vehicle speed V, a steering wheel corner A, an actual braking opening degree B and a formation state mark 0 or 1 (the mark is 0 to indicate that the following vehicle does not enter the formation state, and the mark is 1 to indicate that the following vehicle enters the formation state).
3. A vehicle formation control method according to claim 2, characterized in that: in the fourth step, each following vehicle establishes a vehicle coordinate system which takes the real-time position of the vehicle as the coordinate origin and the real-time orientation of the vehicle as the x axis, simultaneously records the longitude and latitude coordinates and the course angle of the pilot vehicle at the moment, performs coordinate transformation, and calculates the course angle of the pilot vehicle under the vehicle coordinate system of the vehicle
Figure 211733DEST_PATH_IMAGE007
Angle of position
Figure 804388DEST_PATH_IMAGE008
X-coordinate, y-coordinate; in order to ensure the performability of the track planning, constraint conditions for following the vehicle to enter a formation mode are set
Figure 636209DEST_PATH_IMAGE009
、
Figure 579894DEST_PATH_IMAGE010
Wherein
Figure 139052DEST_PATH_IMAGE011
And X is a threshold value set according to the vehicle speed, the position of the pilot vehicle meets the above conditions, and the following vehicle can enter a formation mode.
4. A vehicle formation control method according to claim 1, characterized in that: in the fifth step, five times of planning are adopted for trajectory planning.
5. A vehicle formation control method according to claim 3, characterized in that: the vehicle is provided with a vehicle formation controller and a drive-by-wire chassis controller, and the drive-by-wire chassis controller is used for receiving vehicle control instructions controlled by vehicle formation, uniformly coordinating and processing the instructions and sending the instructions to a driving motor, a braking system and a steering system; the control interface between the formation controller and the drive-by-wire chassis controller is steering wheel angle command
Figure 851793DEST_PATH_IMAGE012
Throttle opening degree instruction
Figure 323357DEST_PATH_IMAGE013
(0-100%) and brake opening command
Figure 19917DEST_PATH_IMAGE014
(0-100%); the drive-by-wire chassis controller receives an accelerator opening instruction
Figure 117186DEST_PATH_IMAGE015
Converting the command into a motor torque command and sending the motor torque command to a motor controller; receiving a brake opening command
Figure 966325DEST_PATH_IMAGE016
And converting the command into a brake pressure request and sending the brake pressure request to the brake controller.
6. A vehicle formation control method according to claim 5, characterized in that: in the seventh step, when the vehicle enters the formation state along with the vehicle, the track of the pilot vehicle is transversely tracked, and the longitudinal control target keeps a fixed distance from the front vehicle; in the longitudinal control of the following vehicles, the target distance between two adjacent vehicles in formation is set to be
Figure 858057DEST_PATH_IMAGE017
(ii) a The actual distance between the front vehicle and the rear vehicle is
Figure 41914DEST_PATH_IMAGE018
(ii) a Front vehicle speed
Figure 693606DEST_PATH_IMAGE019
(ii) a The speed of the vehicle is
Figure 115360DEST_PATH_IMAGE020
Designing a double-feedback PID closed-loop controller, and designing a double-feedback PID closed-loop controller according to the following steps that the speed error of a front vehicle is taken as a tracking target
Figure 709153DEST_PATH_IMAGE021
(ii) a At a target distance
Figure 849147DEST_PATH_IMAGE022
For control purposes, distance error
Figure 304530DEST_PATH_IMAGE023
(ii) a Weight coefficient of designed vehicle speed error
Figure 111949DEST_PATH_IMAGE024
And distanceWeight coefficient of error
Figure DEST_PATH_IMAGE025
So that the total error is
Figure 892954DEST_PATH_IMAGE026
(ii) a Will be provided with
Figure 785824DEST_PATH_IMAGE027
Input to a PID feedback controller whose output is
Figure 28587DEST_PATH_IMAGE028
，
Figure 424933DEST_PATH_IMAGE029
The limiting range is [ -100,100 [)]When is coming into contact with
Figure 845681DEST_PATH_IMAGE028
A value of (0,100)]Then, the throttle opening degree is instructed
Figure 225847DEST_PATH_IMAGE030
Sending; when in use
Figure 272300DEST_PATH_IMAGE028
Value of-100, 0), the brake opening is commanded
Figure 539465DEST_PATH_IMAGE031
Sending, adding the actual braking opening B of the front vehicle for compensation control, and finally outputting
Figure 380382DEST_PATH_IMAGE032
To be finally output
Figure 247844DEST_PATH_IMAGE033
Make range limitation
Figure 583141DEST_PATH_IMAGE034
。
7. A vehicle formation control method according to claim 5, characterized in that: in the seventh step, the transverse control of the vehicle, namely the following vehicle, is to design a transverse fuzzy PID feedback controller based on preview and to deviate the transverse distance
Figure 219659DEST_PATH_IMAGE035
Deviation of course angle
Figure 231477DEST_PATH_IMAGE036
An input controller having an output of
Figure 55077DEST_PATH_IMAGE029
Adding the actual steering wheel angle A of the pilot vehicle for compensation control, and finally outputting
Figure 194065DEST_PATH_IMAGE037
。
8. A vehicle formation control method according to claim 7, characterized in that: said
Figure 685089DEST_PATH_IMAGE038
Upper and lower limit
Figure DEST_PATH_IMAGE039
Wherein
Figure 415279DEST_PATH_IMAGE040
The offset of the steering wheel rotation angle limiting range can be set to be 50-200 degrees according to actual conditions.
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