The invention relates to an intelligent networked trailer truck formation control method. The method comprises the following steps: respectively determining a longitudinal controller design scheme and a transverse controller design scheme; building and solving a model predictive control optimization problem based on the system dynamics of the transverse and longitudinal controllers; the method comprises the following steps: establishing a trailer truck co-simulation platform based on PreScan software and Trucksim software; designing a multi-dimensional simulation test scheme, and carrying out simulation test on the trailer truck co-simulation platform to obtain a simulation experiment result; according to a simulation experiment result, screening out a key influence factor as an analysis parameter of a system operation domain; and determining a multi-factor system operation domain by adopting a radar map method, completing the design of a formation controller, and carrying out vehicle formation control by utilizing the designed formation controller. Compared with the prior art, the method can achieve the horizontal and longitudinal integrated formation of the heavy-load trailer trucks under the combination of various factors, and effectively improves the precision and robustness of formation control.
本发明涉及一种智能网联拖挂货车编队控制方法,包括:分别确定纵向控制器设计方案以及横向控制器设计方案;基于横向及纵向控制器的系统动态,构建并求解模型预测控制优化问题;基于PreScan软件和Trucksim软件,搭建拖挂货车协同仿真平台;设计多维度的仿真测试方案,在拖挂货车协同仿真平台进行仿真测试,得到仿真实验结果;根据仿真实验结果,筛选出关键影响因子,作为系统运行域的分析参数;采用雷达图方法,确定出多因子的系统运行域,完成编队控制器设计,利用设计的编队控制器进行车辆编队控制。与现有技术相比,本发明能够实现在多种因素组合下的重载拖挂货车横纵向一体化编队,且有效提高编队控制的精度以及鲁棒性。
Intelligent network connection trailer truck formation control method
一种智能网联拖挂货车编队控制方法
2022-12-06
Patent
Electronic Resource
Chinese
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