The invention discloses a motorcade cooperative self-adaptive cruise control method based on # imgabs0 # control, which comprises the following steps of: designing a system state according to a motorcade CACC vehicle following structure by considering the influence of chassis system modeling error, chassis system parameter uncertainty and target vehicle acceleration disturbance on system stability; a vehicle following distance error, a vehicle following speed error and the acceleration of a controlled vehicle which take a leading vehicle as a vehicle following target are selected as system states, modeling is carried out on a vehicle team CACC system, and a controller is designed based on a # imgabs1 # control method. According to the control method, the error between the actual distance and the expected distance between the controlled vehicle and the leading vehicle is as small as possible, and the speed of the controlled vehicle tracks the speed of the leading vehicle as possible, so that the vehicle following performance is ensured; the acceleration of the controlled vehicle is as small as possible so as to ensure comfort. And meanwhile, a better effect is achieved on the robustness of the system.

    本发明公开了一种基于#imgabs0#控制的车队协同式自适应巡航控制方法,通过考虑底盘系统建模误差、底盘系统参数不确定性以及目标车辆加速度的扰动对系统稳定性的影响,根据车队CACC跟车结构对系统状态进行设计,选取以领导车辆为跟车目标的跟车距离误差、跟车速度误差和被控车辆的加速度作为系统状态,对车队CACC系统建模,基于#imgabs1#控制方法设计控制器。本控制方法使得被控车辆与领导车辆的实际距离与期望距离的误差尽可能小,被控车辆的车速尽可能跟踪领导车辆的车速,从而保证跟车性能;被控车辆的加速度尽可能小,以保证舒适性。同时在系统鲁棒性取得了较好的效果。


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    Title :

    Motorcade cooperative adaptive cruise control method based on H-infinity control


    Additional title:

    一种基于H∞控制的车队协同式自适应巡航控制方法


    Contributors:
    CHEN JIJUN (author) / GUO HONGQIANG (author) / SUN QUN (author) / YAN NING (author) / HUA LIHONG (author)

    Publication date :

    2023-10-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen



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