CN114670831B - Vehicle formation control method - Google Patents

Vehicle formation control method Download PDF

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Publication number
CN114670831B
CN114670831B CN202210539000.3A CN202210539000A CN114670831B CN 114670831 B CN114670831 B CN 114670831B CN 202210539000 A CN202210539000 A CN 202210539000A CN 114670831 B CN114670831 B CN 114670831B
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vehicle
formation
track
pilot
following
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CN114670831A (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)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Steering Control In Accordance With Driving Conditions (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 formation composition instructions by a pilot vehicle, receiving the formation composition instructions by a following vehicle, and judging whether a front vehicle enters a formation state and judging whether a pilot vehicle position meets constraint conditions; when the conditions are met, the following vehicle enters a formation mode, and meanwhile track planning and following are carried out; when the following vehicle enters the pilot vehicle track, the following vehicle enters a formation state, a formation composition state mark is sent, and tracking control is started on the pilot vehicle track. The track planning method and the track planning device have the advantages that track planning of the following vehicles is carried out in a special mode when the following vehicles enter a formation mode, track curvature continuity is guaranteed, when the running track of the following vehicles is connected to the running track of the pilot vehicle, the transverse control target is not suddenly changed, and then the transverse error of the following vehicles is reduced.

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
In recent years, a vehicle formation technology is widely studied, and the technology means that under certain specific scenes, a vehicle team is automatically formed by a plurality of vehicles, a first vehicle is used as a pilot vehicle, a plurality of following vehicles automatically follow the pilot vehicle to run at a smaller vehicle distance, and the following vehicles can be only provided with safety personnel or even unmanned. The technology effectively solves the problem of traffic congestion, improves traffic efficiency, reduces energy consumption of motorcades, increases carrying capacity of people and cargoes, and simultaneously can greatly reduce fatigue of long-distance driving of a driver. And because the workshop spacing that the vehicle formation was driven is small, can obviously reduce the vehicle and travel windage under higher speed to reduce the vehicle team energy consumption, saved the running cost.
In the current 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 from vehicle to vehicle, so that the later vehicles in the formation have larger transverse position deviation 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 drift of the positioning information is inevitably encountered.
Disclosure of Invention
In order to solve the technical problems, the invention provides a vehicle formation control method.
The invention adopts the following technical scheme:
a vehicle formation control method comprising the steps of:
step one, initializing, and constructing an integral interaction scheme; i.e. the total number of vehicles comprised by the design vehicle fleet is
Figure SMS_1
Bicycle number->
Figure SMS_2
The bicycle number n=1 is the pilot bicycle, and the bicycle numbers n=2, 3 and … … N are the following bicycles; setting the content of an information packet sent by a pilot vehicle, broadcasting and sending the information packet in real time by all vehicles through a V2V technology, and simultaneously receiving the information packets of the pilot vehicle and the n-1 vehicle by the n number vehicle (n is more than or equal to 2);
step two, judging whether the pilot vehicle issues a formation composition instruction, if yes, entering a step three, and if no, entering a step one;
step three, after the n number vehicle (own vehicle) receives a formation command of the pilot vehicle, judging whether the n-1 number vehicle (front vehicle) enters a formation state or not at the same time, if yes, entering a step four, and if no, entering a step two;
judging whether the pilot vehicle position meets the constraint condition, if yes, entering a fifth step, and if no, entering a third step;
fifthly, the pilot vehicle position meets constraint conditions, and the vehicle performs track planning and follows; the track planning and following mode is that firstly, the current moment when the vehicle enters the formation mode is regarded as the vehicleThe front position is used as a coordinate origin, the current direction of the vehicle is an earth coordinate system of an x-axis, the longitude and latitude coordinates and the course angle of the pilot vehicle at the moment are recorded, the longitude and latitude coordinates and the course angle are used as target position states of the track planning of the vehicle, and a curve connected with the running track of the pilot vehicle is planned in a track planning mode; secondly, when the vehicle enters a formation mode, storing longitude and latitude coordinates and course angles of a front vehicle as running track information of the pilot vehicle into a controller in real time, calculating a track point closest to the current position of the vehicle on the running track of the pilot vehicle according to the position of the vehicle in real time, and calculating the transverse distance deviation between the vehicle and the track point according to the longitude and latitude coordinates and the course angles of the track point
Figure SMS_3
Heading angle deviation->
Figure SMS_4
The method comprises the steps of carrying out a first treatment on the surface of the Step six is then entered;
step six, judging whether the vehicle enters a pilot vehicle track, namely when the vehicle completes track planning in the previous step and the vehicle follows the track to reach the pilot vehicle track, the vehicle enters a formation state, and enters a step seven, otherwise, the vehicle enters a step five;
step seven, the vehicle enters a formation state, simultaneously sends a formation composition state mark of 1, starts tracking control on the pilot vehicle track, starts following by taking track points as tracking targets, and finally sends the information to the vehicle
Figure SMS_5
And->
Figure SMS_6
And inputting the transverse control module so as to realize tracking control on the track of the pilot vehicle.
Further, the information package content sent by the pilot vehicle comprises longitude and latitude coordinates, course angle, vehicle speed V, steering wheel corner A, actual brake opening B and formation composition instructions of the pilot vehicle; the information package content sent by the following vehicle comprises longitude and latitude coordinates, course angle, vehicle speed V, steering wheel corner A, actual brake opening B and formation composition state marks 0 or 1 (the mark is 0 and indicates that the following vehicle does not enter the formation state, and the mark is 1 and indicates that the following vehicle enters the formation state).
In the fourth step, 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 direction 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 SMS_7
Position angle->
Figure SMS_8
X-coordinate, y-coordinate. In order to guarantee the track planning performability, a constraint condition of the following vehicle entering into a formation mode is set +.>
Figure SMS_9
、/>
Figure SMS_10
Wherein->
Figure SMS_11
And X is a threshold value set according to the vehicle speed, the pilot vehicle position meets the conditions, and the following vehicle can enter a formation mode.
Further, in the fifth step, the trajectory planning uses five times of multiple planning.
Further, 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 a vehicle control instruction of vehicle formation control, uniformly coordinating the instruction and then sending the instruction to a driving motor, a braking system and a steering system; the transverse and longitudinal control interfaces of the vehicle formation controller and the drive-by-wire chassis controller are steering wheel angle instructions
Figure SMS_12
Throttle opening command->
Figure SMS_13
(0-100%), brake opening command->
Figure SMS_14
(0-100%); the drive-by-wire chassis controller receives the throttle opening instruction +.>
Figure SMS_15
Converting the command into a motor torque command and sending the motor torque command to a motor controller; receiving brake opening command +.>
Figure SMS_16
The command is converted into a brake pressure request and sent to the brake controller.
In the seventh step, the own vehicle is in a formation state, namely the following vehicle, tracks the pilot vehicle transversely, and the longitudinal control target is to keep a fixed distance with the front vehicle; in the longitudinal control of the following vehicles, the target distance between two adjacent vehicles in formation is set as follows
Figure SMS_26
The method comprises the steps of carrying out a first treatment on the surface of the The actual distance between the front car and the rear car is +.>
Figure SMS_19
The method comprises the steps of carrying out a first treatment on the surface of the Front vehicle speed->
Figure SMS_22
The method comprises the steps of carrying out a first treatment on the surface of the The speed of the vehicle is>
Figure SMS_30
The design of double feedback PID closed loop controller includes the following steps, if the speed of the front car is the tracking target, the speed error is +.>
Figure SMS_34
The method comprises the steps of carrying out a first treatment on the surface of the At a target distance->
Figure SMS_33
For control target, distance error->
Figure SMS_35
. Weight coefficient of design vehicle speed error +.>
Figure SMS_25
And the weight coefficient of the distance error +.>
Figure SMS_29
So that the total error->
Figure SMS_17
. Input PID feedback controller, output of PID feedback controller is +>
Figure SMS_21
，/>
Figure SMS_20
Limited to [ -100,100]When->
Figure SMS_24
Has a value of (0, 100]Then use the throttle opening command +.>
Figure SMS_28
Transmitting; when->
Figure SMS_32
A value of [ -100, 0), the brake opening degree is commanded +.>
Figure SMS_18
Transmitting, at the same time, adding the actual brake opening B of the preceding vehicle to perform compensation control, and finally outputting +.>
Figure SMS_23
Will finally output +.>
Figure SMS_27
Do range limit->
Figure SMS_31
。
In the seventh step, the lateral control of the host vehicle, i.e. the following vehicle, is to design a lateral fuzzy PID feedback controller based on pre-aiming to deviate the lateral distance
Figure SMS_36
Heading angle deviation->
Figure SMS_37
An input controller, the output of the controller is +.>
Figure SMS_38
Adding the actual steering wheel angle A of the pilot vehicle to carry out compensation control, and finally outputting +.>
Figure SMS_39
。/>
Further, the said
Figure SMS_40
Upper and lower limit of->
Figure SMS_41
Wherein->
Figure SMS_42
The offset of the steering wheel angle limiting range can be set to be 50-200 degrees according to actual conditions.
As can be seen 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 formation composition instructions by a pilot vehicle, when n vehicles receive the formation composition instructions of the pilot vehicle, and simultaneously n-1 vehicles enter a formation state, if conditions allow the n vehicles to enter a formation mode, broadcasting and transmitting formation composition state marks as 1 after the n vehicles successfully enter the formation state, planning tracks of the following vehicles for five times by adopting a special mode when the following vehicles enter the formation mode, ensuring continuous track curvature, and realizing that transverse control targets do not mutate when the running tracks of the following vehicles are connected with the running tracks of the pilot vehicle, thereby reducing transverse errors of the following vehicles and reducing transverse error accumulation. In addition, the invention provides that whether the pilot vehicle meets the constraint condition before all the following vehicles enter the formation mode can realize the simultaneous tracking of the running track of the pilot vehicle, and simultaneously control the distance between the following vehicles and the preceding vehicle in the longitudinal direction, so that the problem of the accumulation of transverse errors is further solved.
2. In the formation state of the following vehicle, the transverse distance deviation is realized through the transverse fuzzy PID feedback controller of the pre-aiming
Figure SMS_43
Heading angle deviation->
Figure SMS_44
An input controller, the output of the controller is +.>
Figure SMS_45
In order to ensure the stability of transverse control, the smallest possible transverse steady-state error and the faster control response speed, the actual steering wheel angle A of the pilot vehicle is added for compensation control, and the final output is carried out>
Figure SMS_46
. At the same time, to prevent uncontrolled consequences of drift of vehicle positioning information, limits
Figure SMS_47
The upper and lower limit of (2) is->
Figure SMS_48
Wherein->
Figure SMS_49
The offset of the steering wheel angle limiting range can be set to 50-200 degrees according to actual conditions, so that serious consequences of transverse sudden out-of-control caused by positioning drift can be avoided greatly.
3. In the following vehicle formation state, the target distance between two adjacent vehicles in formation is set as
Figure SMS_59
The method comprises the steps of carrying out a first treatment on the surface of the The actual distance between the front car and the rear car is +.>
Figure SMS_51
The method comprises the steps of carrying out a first treatment on the surface of the Front vehicle speed->
Figure SMS_55
The method comprises the steps of carrying out a first treatment on the surface of the The speed of the vehicle is>
Figure SMS_52
Designing a double-feedback PID closed-loop controller, taking the speed of the previous vehicle as a tracking target, and enabling the speed error to be +.>
Figure SMS_57
The method comprises the steps of carrying out a first treatment on the surface of the At a target distance->
Figure SMS_61
For control target, distance error->
Figure SMS_65
Designing a weight coefficient of a vehicle speed error>
Figure SMS_58
And the weight coefficient of the distance error +.>
Figure SMS_62
So that the total error->
Figure SMS_53
The method comprises the steps of carrying out a first treatment on the surface of the Total error->
Figure SMS_54
Input PID feedback controller, the output of the controller is +.>
Figure SMS_64
，/>
Figure SMS_68
Limited to [ -100,100]When->
Figure SMS_66
Has a value of (0, 100]Then use the throttle opening command +.>
Figure SMS_69
Transmitting; when->
Figure SMS_56
A value of [ -100, 0), thenWith brake opening command->
Figure SMS_60
Transmitting; in order to accelerate the response speed of the braking as much as possible, i.e. the front car makes a braking action, the rear car can generate a corresponding braking action in time, the actual braking opening B of the front car is added for compensation control, and the final output is +.>
Figure SMS_63
The method comprises the steps of carrying out a first treatment on the surface of the At the same time, in order to prevent uncontrolled consequences of drift of the vehicle positioning information, the final output +.>
Figure SMS_67
Do range limit->
Figure SMS_50
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 in formation can be avoided greatly.
5. According to the invention, when tracking control is carried out on the track of the pilot vehicle in the following vehicle formation state, the steering wheel rotation angle information of the pilot vehicle and the braking signal of the front vehicle are introduced into the following vehicle to carry out compensation control and restriction, so that the possibility of sudden out-of-control of the vehicle due to positioning drift is greatly reduced.
Drawings
FIG. 1 is a schematic flow chart of the present invention;
FIG. 2 is a schematic diagram of track planning and following of a follower vehicle according to the present invention;
fig. 3 is a block diagram of the configuration of the vehicle formation controller and the chassis-by-wire controller of the present invention.
Detailed Description
The following describes the implementation of the embodiment 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, which specifically comprises the following steps:
designing a vehicle consist to include a total number of vehicles
Figure SMS_70
Bicycle number->
Figure SMS_71
N=2 is the pilot vehicle, n=2, 3 … … N is the follower vehicle). The information package content sent by the pilot vehicle is set as follows: the longitude and latitude coordinates, the course angle, the vehicle speed V, the steering wheel angle A, the actual braking opening B and formation form a command; the information package content sent by the following vehicle is set as follows: longitude and latitude coordinates, course angle, vehicle speed V, steering wheel angle A, actual brake opening B and formation form state mark 0 or 1 (mark 0 indicates that the following vehicle does not enter the formation state, mark 1 indicates that the following vehicle enters the formation state). All vehicles broadcast and send the information packet in real time through the V2V technology, and n vehicles are +.>
Figure SMS_72
And simultaneously receiving information packets of the pilot vehicle and the n-1 vehicle (front vehicle).
Step two, judging whether the pilot vehicle issues a formation composition instruction, if yes, entering step three, and if no, entering step one.
Step three, when the n number of vehicles (namely the host vehicle, namely the following vehicle) receives the formation command of the pilot vehicle, judging simultaneously
Figure SMS_73
Whether the number car (front car) enters a formation state or not, if yes, entering a step four, and if no, entering a step two.
When the number n vehicle is number 2, if the condition is allowed (specific condition is given below), the formation mode is firstly entered, and after the number 2 vehicle successfully enters the formation state (specific condition is given below), the broadcast transmission formation composition state flag is 1. After receiving a formation composition command issued by the pilot vehicle and a formation composition state flag bit of the No. 2 vehicle, the No. 3 vehicle starts to enter a formation mode if the conditions allow, and after successfully entering the formation state, the formation composition state flag is broadcasted and sent to be 1. Similarly, when the n-number vehicle receives the formation composition instruction of the pilot vehicle, the n-number vehicle simultaneously
Figure SMS_74
The number cars enter a formation state, at this time, if the condition allows the number n cars to start to enter a formation mode, and after the number n cars successfully enter the formation state, a broadcast transmission formation composition state mark is 1.
And step four, judging whether the pilot vehicle position meets the constraint condition, if yes, entering a step five, and if no, entering a step three. The method comprises the following steps:
each following vehicle establishes a vehicle coordinate system with the real-time position of the vehicle as a coordinate origin and the real-time direction of the vehicle as an 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 SMS_75
Position angle->
Figure SMS_76
X-coordinate, y-coordinate. In order to guarantee the track planning performability, a constraint condition of the following vehicle entering into a formation mode is set +.>
Figure SMS_77
、/>
Figure SMS_78
Wherein->
Figure SMS_79
And X is a threshold value set according to the vehicle speed, the vehicle speed is high, and a smaller +.>
Figure SMS_80
Values and larger X values; low speed, can be set to be larger +.>
Figure SMS_81
Values and smaller X values.
Step five, the pilot vehicle position meets constraint conditions, and the vehicle (following vehicle) performs track planning and follows, as shown in fig. 2, specifically:
firstly, a current moment when a vehicle enters a formation mode is followed, a geodetic coordinate system with the current position of the vehicle as a coordinate origin and the current direction of the vehicle as an x-axis is established, meanwhile, longitude and latitude coordinates and course angles of a pilot vehicle at the moment are recorded, the longitude and latitude coordinates and the course angles are used as target position states of track planning of the vehicle, and a curve for accessing the running track of the pilot vehicle is planned in a track planning mode. The track planning mode adopts five or more times of planning, and the planning method can ensure the track curvature to be continuous, namely, the transverse control target is not suddenly changed when the running track of the following vehicle is connected with the running track of the pilot vehicle.
Secondly, when the following vehicle enters a formation mode, storing longitude and latitude coordinates and course angles of the front vehicle as driving track information of the pilot vehicle into the controller in real time, calculating track points (matching points) closest to the current position of the pilot vehicle on the driving track of the pilot vehicle in real time according to the position of the following vehicle, and calculating the transverse distance deviation between the pilot vehicle and the matching points according to the longitude and latitude coordinates and the course angles of the matching points
Figure SMS_82
Heading angle deviation->
Figure SMS_83
. Subsequently, step six is entered.
Step six, judging whether the vehicle enters the track of the pilot vehicle, namely when the vehicle completes the track planning in the previous step and the vehicle follows the track to reach the track of the pilot vehicle, the vehicle enters a formation state, and enters the step seven, otherwise, the vehicle enters the step five.
Step seven, the vehicle enters a formation state, simultaneously sends a formation composition state mark of 1, starts tracking control on the pilot vehicle track, starts following by taking track points as tracking targets, and finally sends the information to the vehicle
Figure SMS_84
And->
Figure SMS_85
And inputting the transverse control module so as to realize tracking control on the track of the pilot vehicle.
In the seventh step, when the following vehicle starts to track and control the pilot vehicle track, the following vehicle needs to be controlled in the transverse direction and the longitudinal direction based on the vehicle drive-by-wire interface. The specific control method comprises the following steps:
first, as shown in fig. 3, a vehicle formation controller and a drive-by-wire chassis controller are installed on a vehicle, and the drive-by-wire chassis controller is used for receiving a control command of an upper layer (the vehicle formation controller), uniformly coordinating the command, and transmitting the command to each actuator (a driving motor, a braking system, a steering system, etc.). The main transverse and longitudinal control interfaces of the vehicle formation controller and the line-control chassis controller are as follows: steering wheel angle command
Figure SMS_86
Throttle opening command->
Figure SMS_87
(0-100%), brake opening command->
Figure SMS_88
(0-100%). The drive-by-wire chassis controller receives the throttle opening instruction +.>
Figure SMS_89
Converting the command into a motor torque command and sending the motor torque command to a motor controller; receiving brake opening command +.>
Figure SMS_90
The command is converted into a brake pressure request and sent to the brake controller.
Secondly, longitudinal control of the following vehicle is realized; i.e. the following vehicle is in a convoy state, tracking the track of the pilot vehicle transversely, while the longitudinal control target is at a fixed distance from the preceding vehicle. The distance is the integral quantity of the vehicle speed, so that the simple distance control response sensitivity is poor, and the control oscillation is easy to cause, so that the vehicle speed of the front vehicle is introduced to control, and the control target is that the vehicle and the front vehicle have the same vehicle speed. Setting the target distance between two adjacent vehicles in formation as
Figure SMS_91
The method comprises the steps of carrying out a first treatment on the surface of the The actual distance between the front car and the rear car is +.>
Figure SMS_92
The method comprises the steps of carrying out a first treatment on the surface of the Front vehicle speed->
Figure SMS_93
The method comprises the steps of carrying out a first treatment on the surface of the The speed of the vehicle is>
Figure SMS_94
The design of the PID closed-loop controller with double feedback comprises the following steps:
the speed error is generated by taking the speed of the previous vehicle as a tracking target
Figure SMS_96
The method comprises the steps of carrying out a first treatment on the surface of the At a target distance->
Figure SMS_101
For control target, distance error->
Figure SMS_104
. Weight coefficient of design vehicle speed error +.>
Figure SMS_98
And the weight coefficient of the distance error +.>
Figure SMS_102
So that the total error->
Figure SMS_105
. Will->
Figure SMS_107
Input PID feedback controller, the output of the controller is +.>
Figure SMS_95
，/>
Figure SMS_99
Limited to [ -100,100]When->
Figure SMS_103
Has a value of (0, 100]Then use the throttle opening command +.>
Figure SMS_106
Transmitting; when->
Figure SMS_97
A value of [ -100, 0), the brake opening degree is commanded +.>
Figure SMS_100
And (5) transmitting.
In order to accelerate the response speed of braking as much as possible, namely the front vehicle makes braking action, the rear vehicle can generate corresponding braking action in time, the actual braking opening B of the front vehicle is needed to be added for compensation control, and the final output is realized
Figure SMS_108
. At the same time, in order to prevent uncontrolled consequences of drift of the vehicle positioning information, the final output +.>
Figure SMS_109
Do range limit->
Figure SMS_110
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 in formation can be avoided greatly.
Longitudinal control of the following vehicle is realized; designing a transverse fuzzy PID feedback controller based on pre-aiming to deviate the transverse distance
Figure SMS_111
Heading angle deviation->
Figure SMS_112
An input controller, the output of the controller is +.>
Figure SMS_113
. In order to ensure the stability of transverse control, the smallest possible transverse steady-state error and the faster control response speed, the actual steering wheel angle A of the pilot vehicle is added for compensation control, and the final output is carried out>
Figure SMS_114
. At the same time, to prevent uncontrolled consequences of drift of vehicle positioning information, limits
Figure SMS_115
The upper and lower limit of (2) is->
Figure SMS_116
Wherein->
Figure SMS_117
The offset of the steering wheel angle limiting range can be set to 50-200 degrees according to actual conditions, so that serious consequences of transverse sudden out-of-control caused by positioning drift can be avoided greatly.
The foregoing is merely illustrative of specific embodiments of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modification of the present invention by using the design concept shall fall within the scope of the present invention.

Claims (7)

1. A vehicle formation control method characterized by comprising the steps of:
step one, initializing, and constructing an integral interaction scheme; i.e. the total number of vehicles comprised by the design vehicle fleet is
Figure QLYQS_1
Bicycle number->
Figure QLYQS_2
Bicycle number n, < >>
Figure QLYQS_3
For piloting the vehicle, the bicycle is numbered +.>
Figure QLYQS_4
3, … … N are follower cars; setting the content of an information packet sent by a pilot vehicle, broadcasting and sending the information packet in real time by all vehicles through a V2V technology, and simultaneously receiving the pilot vehicle and the +.>
Figure QLYQS_5
Information package of the number car;
step two, judging whether the pilot vehicle issues a formation composition instruction, if yes, entering a step three, and if no, entering a step one;
step three, when the n-number vehicle receives the formation composition instruction of the pilot vehicle, judging simultaneously
Figure QLYQS_6
Whether the number car enters a formation state or not, if yes, entering a step four, and if no, entering a step two;
judging whether the pilot vehicle position meets the constraint condition, if yes, entering a fifth step, and if no, entering a third step; each following vehicle establishes a vehicle coordinate system with the real-time position of the vehicle as a coordinate origin and the real-time direction of the vehicle as an 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 QLYQS_7
Position angle->
Figure QLYQS_8
X-coordinate, y-coordinate; in order to guarantee the track planning performability, a constraint condition of the following vehicle entering into a formation mode is set +.>
Figure QLYQS_9
、/>
Figure QLYQS_10
Wherein->
Figure QLYQS_11
X is a threshold value set according to the vehicle speed, the pilot vehicle position meets the conditions, and the following vehicle can enter a formation mode;
fifthly, the pilot vehicle position meets constraint conditions, and the vehicle performs track planning and follows;the track planning and following mode is that firstly, the current moment when the vehicle enters a formation mode takes the current position of the vehicle as a coordinate origin, the current direction of the vehicle is an earth coordinate system of an x axis, meanwhile, the longitude and latitude coordinates and the course angle of a pilot vehicle at the moment are recorded, the current moment is taken as a target position state of the track planning of the vehicle, and a curve connected with the running track of the pilot vehicle is planned in a track planning mode; secondly, when the vehicle enters a formation mode, storing longitude and latitude coordinates and course angles of a front vehicle as running track information of the pilot vehicle into a controller in real time, calculating a track point closest to the current position of the vehicle on the running track of the pilot vehicle according to the position of the vehicle in real time, and calculating the transverse distance deviation between the vehicle and the track point according to the longitude and latitude coordinates and the course angles of the track point
Figure QLYQS_12
Heading angle deviation->
Figure QLYQS_13
The method comprises the steps of carrying out a first treatment on the surface of the Step six is then entered;
step six, judging whether the vehicle enters a pilot vehicle track, namely when the vehicle completes track planning in the previous step and the vehicle follows the track to reach the pilot vehicle track, the vehicle enters a formation state, and enters a step seven, otherwise, the vehicle enters a step five;
step seven, the vehicle enters a formation state, simultaneously sends a formation composition state mark of 1, starts tracking control on the pilot vehicle track, starts following by taking track points as tracking targets, and finally sends the information to the vehicle
Figure QLYQS_14
And->
Figure QLYQS_15
And inputting the transverse control module so as to realize tracking control on the track of the pilot vehicle.
2. A vehicle formation control method according to claim 1, characterized in that: the information package 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 package 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 brake opening B and formation composition state marks 0 or 1, wherein the marks 0 and 1 indicate that the following vehicle does not enter the formation state, and the marks 1 indicate that the following vehicle enters the formation state.
3. A vehicle formation control method according to claim 1, characterized in that: in the fifth step, the trajectory planning adopts five or more times of planning.
4. A vehicle formation control method according to claim 1, characterized in that: the system comprises a vehicle, a vehicle formation controller, a drive-by-wire chassis controller, a driving motor, a braking system and a steering system, wherein the vehicle is provided with the vehicle formation controller and the drive-by-wire chassis controller; the transverse and longitudinal control interfaces of the vehicle formation controller and the drive-by-wire chassis controller are steering wheel angle instructions
Figure QLYQS_16
Throttle opening command->
Figure QLYQS_17
Brake opening command
Figure QLYQS_18
The method comprises the steps of carrying out a first treatment on the surface of the The drive-by-wire chassis controller receives the throttle opening instruction +.>
Figure QLYQS_19
Converting the command into a motor torque command and sending the motor torque command to a motor controller; receiving brake opening command +.>
Figure QLYQS_20
Converting the command into a brake pressure request and transmitting the brake pressure request to the brakeAnd a dynamic controller.
5. The vehicle formation control method according to claim 4, characterized in that: in the step seven, the vehicle is in a state that the following vehicle enters a formation, the track of the pilot vehicle is transversely tracked, and the longitudinal control target is 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 as follows
Figure QLYQS_31
The method comprises the steps of carrying out a first treatment on the surface of the The actual distance between the front car and the rear car is +.>
Figure QLYQS_23
The method comprises the steps of carrying out a first treatment on the surface of the Front vehicle speed->
Figure QLYQS_27
The method comprises the steps of carrying out a first treatment on the surface of the The speed of the vehicle is>
Figure QLYQS_35
The design of double feedback PID closed loop controller includes the following steps, if the speed of the front car is the tracking target, the speed error is +.>
Figure QLYQS_38
The method comprises the steps of carrying out a first treatment on the surface of the At a target distance->
Figure QLYQS_37
For control target, distance error->
Figure QLYQS_40
The method comprises the steps of carrying out a first treatment on the surface of the Weight coefficient of design vehicle speed error +.>
Figure QLYQS_29
And the weight coefficient of the distance error +.>
Figure QLYQS_33
So that the total error->
Figure QLYQS_21
The method comprises the steps of carrying out a first treatment on the surface of the Will->
Figure QLYQS_25
Input PID feedback controller, output of PID feedback controller is +.>
Figure QLYQS_30
，/>
Figure QLYQS_34
Limited to [ -100,100]When->
Figure QLYQS_36
Has a value of (0, 100]Then use the throttle opening command +.>
Figure QLYQS_39
Transmitting; when->
Figure QLYQS_24
A value of [ -100, 0), the brake opening degree is commanded +.>
Figure QLYQS_26
Transmitting, at the same time, adding the actual brake opening B of the preceding vehicle to perform compensation control, and finally outputting +.>
Figure QLYQS_28
Will finally output +.>
Figure QLYQS_32
Do range limit->
Figure QLYQS_22
。
6. The vehicle formation control method according to claim 4, 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 pre-aiming to deviate the transverse distance
Figure QLYQS_41
Heading angle deviation->
Figure QLYQS_42
An input controller, the output of the controller is +.>
Figure QLYQS_43
Adding the actual steering wheel angle A of the pilot vehicle to carry out compensation control, and finally outputting +.>
Figure QLYQS_44
。
7. The vehicle formation control method according to claim 6, characterized in that: the said
Figure QLYQS_45
Upper and lower limit of->
Figure QLYQS_46
Wherein->
Figure QLYQS_47
The offset of the steering wheel angle limiting range can be set to be 50-200 degrees according to actual conditions. />
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