The invention discloses a vehicle formation control method with specified convergence time. The vehicle formation control method comprises the steps that 1, vehicles in a formation are numbered from front to back by 0-N; 2, in the driving process, the pilot vehicle and each following vehicle i send the serial number, position, speed and acceleration information of the pilot vehicle and each following vehicle i to other vehicles through vehicle-mounted communication; 3; 4, each following vehicle i utilizes the position, speed and acceleration information thereof and the received position, speedand acceleration information of other vehicles; 5, [Rho]i is increased until an expected control effect is achieved; 6, a driving system or a braking system acts to obtain driving torque Tiw or braking torque Tib, the driving torque Tiw or the braking torque Tib is applied to the vehicle body, and the vehicle is enabled to track the expected acceleration adi; 7, each following vehicle continuously repeats the steps 3-7, and vehicle formation driving is achieved. According to the vehicle formation control method with the specified convergence time, formation control over the vehicles can be effectively achieved through setting of the step 1 to the step 7.
本发明公开了一种指定收敛时间的车辆编队控制方法,包括如下步骤:步骤1,将编队中车辆从前到后进行0~N编号;步骤2,在行驶过程中,领航车辆和每个跟随车辆i利用车载通信将自身的编号、位置、速度、加速度信息发送至其他车辆;步骤3;步骤4,每辆跟随车辆i利用自身和所接收的其他车辆的位置、速度、加速度信息;步骤5,增大ρ直至达到期望的控制效果;步骤6,驱动系统或制动系统作用得到驱动力矩T或制动力矩T并施加至车身,使车辆跟踪期望加速度a;步骤7,每个跟随车辆不断重复上述步骤3~7,实现车辆编队行驶。本发明的指定收敛时间的车辆编队控制方法,通过步骤1至步骤7的设置,便可有效的实现对于车辆进行编队控制了。
Vehicle formation control method and system with specified convergence time
一种指定收敛时间的车辆编队控制方法和系统
2020-06-12
Patent
Electronic Resource
Chinese
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 |
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