The invention discloses an autonomous vehicle queue stability control method and system considering communication time lag. The method comprises the following steps: establishing a closed-loop control system mathematical model of an autonomous vehicle queue based on a leading vehicle and N following vehicles; establishing a vehicle queue closed-loop control system and a characteristic equation thereof according to the closed-loop control system mathematical model, decomposing the vehicle queue closed-loop control system into 3N first-order subsystems, solving the crossing frequency and critical time lag of each subsystem based on a numerical sweep frequency algorithm of a mapping relation, and calculating the root trend of the crossing frequency at the critical time lag, the asymptotic behavior of the pure imaginary root at the imaginary axis of the complex plane is judged, and the time-delay stable interval of each subsystem can be obtained; by stabilizing the time delay of each subsystem, the time delay stability boundary of the large-scale autonomous vehicle queue closed-loop system under any communication topology can be obtained with a small calculation amount; and in the calculated time-delay stable interval, the large-scale autonomous vehicle queue system can be ensured to stably run.

    本发明公开了一种考虑通信时滞的自主车辆队列稳定性控制方法及系统,建立基于一辆领航车和N辆跟随车的自主车辆队列的闭环控制系统数学模型;根据闭环控制系统数学模型建立车辆队列闭环控制系统及其特征方程,将车辆队列闭环控制系统分解为3N个一阶子系统,基于映射关系的数值扫频算法,求解各子系统的穿越频率与临界时滞,并计算穿越频率在临界时滞处的根趋势,判断纯虚根在复平面虚轴处的渐近行为,可获取各子系统的时滞稳定区间;通过对各子系统时滞稳定,本发明能够以较小的运算量得到了任意通信拓扑下大规模自主车辆队列闭环系统的时滞稳定边界;在所计算的时滞稳定区间内,能够保证大规模自主车辆队列系统能够稳定行驶。


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    Titel :

    Autonomous vehicle queue stability control method and system considering communication time lag


    Weitere Titelangaben:

    一种考虑通信时滞的自主车辆队列稳定性控制方法及系统


    Beteiligte:
    ZHANG XUNXUN (Autor:in) / ZHANG LINHU (Autor:in)

    Erscheinungsdatum :

    2023-08-15


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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