The invention discloses a networked vehicle cruise control method under random communication time delay. The method comprises the following steps: 1, estimating a current communication time delay range and logarithmic quantization density, discretizing the communication time delay range to obtain possible communication time delay sets in the form, and estimating a transfer matrix between discretecommunication time delays of the possible communication time delay sets; 2, determining a networked vehicle cruise control system equation; 3, constructing an augmentation system equation containing communication time delay; 4, constructing a linear matrix inequality equation set; 5, calculating a control gain corresponding to the communication time delay state; 6, calculating a control quantity under each time delay in the possible communication time delay set, and encoding each control quantity; 7, carrying out discrete processing on the communication time delay, and selecting and decoding the control quantity of the corresponding mode to obtain an actual control quantity. The stability and safety of the cruise control of the networked vehicle can be ensured under the conditions of communication time delay and logarithm quantization in the communication process of a upper-layer controller and a vehicle.
本发明公开了一种随机通信时延下的网联车辆巡航控制方法,该方法包括:步骤1,估计当前的通信时延范围以及对数量化密度,将通信时延范围离散化处理而得到形式为的可能通信时延组,估计可能通信时延组的离散通信时延之间的转移矩阵;步骤2,确定网联车辆巡航控制系统方程;步骤3,构建包含通信时延的增广系统方程;步骤4,构建线性矩阵不等式方程组;步骤5,计算对应于通信时延状态的控制增益;步骤6,计算在可能通信时延组中每一个时延下的控制量,对各控制量进行编码:步骤7,将通信时延进行离散处理,并选择对应模态的控制量并予以解码,得到实际控制量。本发明能够在上层控制器与车辆通信过程中存在通信时延及对数量化的情况下保证网联车辆巡航控制的稳定性和安全性。
Networked vehicle cruise control method under random communication time delay
一种随机通信时延下的网联车辆巡航控制方法
2020-08-07
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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