基于车间通信的车辆编队控制方法设计  

Method of vehicle formation control based on vehicle to vehicle communication

作　　者：马彦[1,2] 黄健飞 赵海艳[1,2] MA Yan;HUANG Jian-fei;ZHAO Hai-yan(College of Communication Engineering,Jilin University,Changchun 130022,China;Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022.China)

机构地区：[1]吉林大学通信工程学院,长春130022 [2]吉林大学汽车仿真与控制国家重点实验室,长春130022

出　　处：《吉林大学学报（工学版）》2020年第2期711-718,共8页Journal of Jilin University:Engineering and Technology Edition

基　　金：吉林省产业创新专项项目(2018C035-2).

摘　　要：传统的跟随领航者编队控制器在实际情况中难以准确获得领航车辆运动状态,并且其内部参数可能受到外部干扰的影响而具有不确定性。对此本文设计了基于自适应控制理论中变量估计方法的反馈线性控制器,提出了基于车间通信技术的控制器改进方法。首先,通过变量估计方法提高了控制器参数中的相对距离的精确度;然后,通过车间通信技术保证了接收到的领航车辆运动信息的准确性;最后,在VS2010和Simulink环境下进行了联合仿真实验,验证了算法的有效性。结果表明:基于车间通信技术和自适应原理的跟随领航者编队控制方法能有效完成编队任务,误差较小且收敛,为智能网联汽车的发展提供了一定应用价值。Traditional leader-follower formation controller can hardly obtain the data of the leader vehicle accurately and its parameters may be uncertain due to the influence of external interference. To solving this problem,this paper designed an adaptive feedback linear controller based on variable estimation and proposed an improved method based on Vehicle to Vehicle communication(V2V). Firstly,the accuracy of relative distance is improved by variable estimation. Then,the information accuracy of leader vehicle is guaranteed by using V2V technology. In order to verify the effectiveness of the algorithm,a co-simulation experiment is made using VS2010 and Simulink. The results show that the formation method based on V2V and adaptive control principle can effectively complete the formation task with small errors and convergence. This method provides certain application value for the development of intelligent connected vehicles.

关 键 词：控制理论与控制工程 跟随领航者 编队控制 车间通信技术 自适应控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]