The invention discloses a vehicle formation method based on feedforward-feedback control. The method comprises the following steps: 1, carrying out the numbering of 0-N of vehicles in a formation fromthe front to the back, and enabling the 0th vehicle to be a pilot vehicle and the rest N vehicles to be following vehicles; 2, numbering the ith (i = 1, 2,..., N) vehicle; 3, in the driving process,the pilot vehicle and each following vehicle broadcast the serial number, the expected acceleration and the tracking error information of the pilot vehicle and each following vehicle to a plurality ofsurrounding vehicles through vehicle-mounted communication equipment; 4, calculating the longitudinal tracking error of the vehicle i; 5, calculating the Pi obtained in the step 2; 7, each followingvehicle follows the expected acceleration in the step 6; and 8, each following vehicle continuously repeats the steps 3-7 to realize vehicle formation driving. According to the vehicle formation method based on feedforward-feedback control, through setting of the steps 1-8, formation of vehicle driving can be effectively realized through expected acceleration.
本发明公开了一种基于前馈‑反馈控制的车辆编队方法,包括如下步骤:步骤1,将编队中的车辆从前到后进行0~N编号,其中第0辆为领航车辆,其余N辆为跟随车辆,步骤2,对于第i(i=1,2,…,N)辆车;步骤3,在行驶过程中,领航车辆和每个跟随车辆利用车载通信设备将自身的编号、期望加速度、跟踪误差信息广播至周围若干车辆;步骤4,车辆i的纵向跟踪误差,步骤5,由步骤2中所得的P;步骤7,每个跟随车辆根据步骤6中的期望加速度;步骤8,每个跟随车辆不断重复上述步骤3~7,以实现车辆编队行驶。本发明的基于前馈‑反馈控制的车辆编队方法,通过步骤1至8的设置,便可有效的通过期望加速度实现对于车辆行驶进行编队了。
Vehicle formation method and system based on feedforward-feedback control
一种基于前馈-反馈控制的车辆编队方法和系统
2020-06-26
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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