CN109552326A - A kind of vehicle speed variation cruise control method under radio communication channel decaying - Google Patents
A kind of vehicle speed variation cruise control method under radio communication channel decaying Download PDFInfo
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- 239000011159 matrix material Substances 0.000 claims abstract description 12
- 238000013178 mathematical model Methods 0.000 claims abstract description 4
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- 238000005562 fading Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 5
- 230000006870 function Effects 0.000 description 6
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
A kind of vehicle speed variation cruise control method under radio communication channel decaying, include the following steps: 1), establish three rank dynamic mathematical models of vehicle speed variation cruise control；2) it, definesObtain vehicle speed variation cruise control system state-space model；3), define vehicle radio communication channel decaying under speed change cruise system in t moment spacing, speed, acceleration control function；4) real number ρ, is given1, λ, solve real matrix And V, meet linear matrix inequality；5) range difference, speed difference and front truck acceleration that network obtains Ben Che and front truck by wireless communication calculate this vehicle acceleration, speed, distance controlling amount in real time, this vehicle is driven to track front truck motion state；So in cycles, the speed change cruise control of vehicle high real-time and accuracy under radio communication channel decaying is realized.The present invention considers the fading channel characteristic of vehicle in the process of moving, so that vehicle speed variation cruise control target be better achieved.
Description
Technical field
It is the present invention relates to a kind of vehicle speed variation cruise control method, in particular to a kind of under radio communication channel decaying
Vehicle speed variation cruise control method.
Background technique
Vehicle speed variation cruise control is the vehicle traveling information that front truck and Ben Che are acquired by onboard sensor such as radar,
Then vehicular safety distance, speed, acceleration model are established, the front truck of acquisition and Ben Che are travelled into information input model, control
The speed, acceleration of this vehicle realizes a kind of method of controlling of this vehicle automatic Pilot.Vehicle speed variation cruise control makes driver
Without having been at tense situation, safety and the comfort of driver driving are improved, while traffic congestion can be slowed down.But
This method of controlling acquires the meeting of front truck information in bend section due to using trailer-mounted radar to acquire front truck driving information, for traveling
There is certain inaccuracy, and onboard sensor is there are detecting distance range is smaller, it when the vehicle is driving at high speed, cannot be timely
By preceding vehicle information feedback to this vehicle.With the continuous development of car networking technology, so that Real-Time Sharing vehicle between vehicle and vehicle
Driving information becomes reality, on the basis of the control of original vehicle cruise, has investigated front truck through heterogeneous wireless network
It is connected with this vehicle, on the one hand cordless communication network receives the driving information of preceding vehicle, on the other hand travel this vehicle and believe
Breath is sent to preceding vehicle, travels on road, and vehicle is to realize vehicle stabilization cruise by wireless network connection with vehicle,
This mode reduces the velocity perturbation between vehicle, can be realized and be cruised with the distance of very little, while can be in complex environment
For example the biggish bend of camber ratio or the height backroad of fluctuating realize cruise control.
The control mode of transmission vehicle traveling information and then control vehicle must assure that wireless communication networks by wireless communication
The safety and reliability of network, vehicle, which only has, receives correct information in driving process, could be under correct control strategy
It realizes vehicle control, avoids that safety accident occurs.Radio communication channel decaying be influence car-to-car data transmission one it is important because
Element, radio communication channel decaying will affect the control performance of system, the especially stability of system, and therefore, which needs
Consider the decaying of wireless channel.It is found by the retrieval to the document of vehicle shifting control method under existing wireless communications, vehicle
The radio communication channel lower speed change cruise control that decays mainly has: PID controller, H∞Control, fuzzy synovial membrane control.Wherein PID
Control follow the bus under fading channel will appear violent shake, this has large effect for the comfortableness and security of follow the bus；
Fuzzy synovial membrane control is a kind of control method for combining synovial membrane structure control and fuzzy structure control, the control method and PID
Control method is compared, and shake has obtained certain improvement, but the variation of its simulation result such as speed is not still smoothly to become
Change；H∞Controlling model is more complicated, and calculation amount is also bigger.Therefore, the lower speed change cruise although radio communication channel is decayed
Control research achieves some achievements, but many scholars have still carried out this problem careful research, so that control
Method meets more complex environment and more accurate vehicle and carries out control requirement.
Summary of the invention
In order to solve the problems, such as vehicle speed variation cruise control, this hair due to caused by fading channel under wireless communications environment
Bright to provide a kind of lower vehicle speed variation cruise control method of radio communication channel decaying, this method consideration vehicle is in driving process
In letter radio communication channel attenuation characteristic, so that vehicle speed variation cruise control target be better achieved.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of lower vehicle speed variation cruise control method of radio communication channel decaying, the control method include walking as follows
It is rapid:
1) three rank dynamic mathematical models of vehicle speed variation cruise control, are established, referring to formula (1):
Wherein, variable t is time, v0(t)、a0(t) velocity and acceleration of front truck is indicated；v1(t)、a1(t) this vehicle is indicated
Velocity and acceleration；Speed difference and the acceleration for respectively indicating two vehicle of front and back are poor；Indicate the time of engine
Constant；It is this vehicle range error d1(t) about the derivative of time and d1(t)=d0+h1v1, d0It is the minimum of two vehicle of front and back
Distance, h1It is time response interval；u1(t) it indicates this vehicle and leading vehicle distance is poor, speed difference, this vehicle Acceleration Control function；
2) it, definesWherein β1、a1Two spacing deviations, speed difference and rear car is respectively indicated to add
Speed then obtains vehicle speed variation cruise control system state-space model by formula (1), referring to formula (2):
WhereinWith
3), define vehicle radio communication channel decaying under speed change cruise system in t moment spacing, speed, acceleration control
Function processed, referring to formula (3):
Wherein, K1=[k1 k2 k3] it is control gain vector, k1、k2And k3Indicate the gain coefficient of control function, Δ v1For
The speed difference of two vehicle of front and back, ρ2Indicate the attenuation coefficient of wireless channel；
4) real number ρ, is given1, λ, solve real matrixAnd V, meet linear matrix inequality,
Referring to (4):
Wherein, matrix Then control gain vector
5) this vehicle that network obtains by wireless communication and leading vehicle distance be poor, speed difference and front truck acceleration calculate in real time
This vehicle acceleration, speed, distance controlling amount drive this vehicle to track front truck motion state；At next control period, exist again
Line measures range difference, speed difference and the front truck acceleration of front truck and this vehicle, so in cycles, realizes that vehicle is believed in wireless communication
The speed change cruise control of high real-time and accuracy under road is decayed.
Technical concept of the invention is: for vehicle speed variation cruise control field to vehicular safety distance, speed, acceleration
The accuracy and requirement of real-time of control establish vehicle three rank time dynamic models under wireless channel decaying, devise one
The vehicle controller that vehicle speed variation cruises under radio communication channel decaying, calculates safe distance, the acceleration, speed of vehicle in real time
Control amount, and then accurate real-time control vehicle are spent, realizes that vehicle speed change under radio communication channel decaying is cruised.
The main execution part of the present invention executes on Vehicular automatic driving control computer, and implementation procedure is broadly divided into
Three phases:
1) including model parameter and controller parameter, the safe distance β that vehicle speed variation cruises, parameter setting: is set1, hair
Motivation constantTime response interval h1, the attenuation coefficient ρ of radio communication channel2.Real parameters λ, ρ that controller is adjustable1, setting
After parameter, store data into computer.
2) it, debugs the stage: being debugged according to the practical adjustable parameter of input, observation vehicle cruises system under fading channel
The control effect united to vehicle, thereby determines that one group of preferable adjustable parameter λ, ρ1。
3), on-line operation: starting vehicle cruise control system, the speed of front truck, position, acceleration pass through wireless isomer network
Network is transferred to the cruise control system of this vehicle, calculates that two following distances are poor, speed difference, then calculates the speed of this vehicle cruise system
Degree, Acceleration Control amount drive this vehicle to track front truck operating status, guarantee that vehicle speed change under fading channel is cruised.
Beneficial effects of the present invention are mainly manifested in: 1, the adjustable parameter of vehicle speed variation cruise control system is fewer, behaviour
It makes comparisons conveniently.2, the decaying in radio communication channel is considered, the error of vehicle speed variation cruise control system is reduced, is guaranteed
The accuracy and safety of speed change cruise, while but also the control system can be used for the scene of many complexity.
Detailed description of the invention
Fig. 1 is that the variation of the accident-free vehicle pitch difference of this vehicle and front truck is bent in speed change cruise control under wireless channel decaying for vehicle
Line.
Fig. 2 is vehicle this vehicle acceleration change curve in speed change cruise control under wireless channel decaying.
Fig. 3 is that this vehicle controls input quantity to vehicle in speed change cruise control under wireless channel decaying.
Fig. 4 is this vehicle and front truck interval error change curve during vehicle speed change under wireless channel decaying is cruised.
Specific embodiment
Method of the invention is described in further details with reference to the accompanying drawing.
Referring to Fig.1~Fig. 4, a kind of lower vehicle speed variation cruise control method of wireless channel decaying, the control method include
Following steps:
1) vehicle speed variation cruise control three-stage shape state space mathematical model, is established, referring to formula (1)；
Wherein, variable t is time, v0(t)、a0(t) velocity and acceleration of front truck is indicated；v1(t)、a1(t) this vehicle is indicated
Velocity and acceleration；Speed difference and the acceleration for respectively indicating two vehicle of front and back are poor；Indicate engine when
Between constant；It is this vehicle range error d1(t) about the derivative of time and d1(t)=d0+h1v1, d0The minimum of two vehicle of front and back
Distance, h1It is time response interval；u1(t) it indicates this vehicle and leading vehicle distance is poor, speed difference, this vehicle Acceleration Control function；
2) it, introducesWherein β1、a1Respectively indicate two spacing deviations, speed difference and Ben Chejia
Speed then obtains vehicle speed variation cruise control model by (1)
WhereinWith
3), define vehicle radio communication channel decaying under speed change cruise system in t moment spacing, speed, acceleration control
Function processed
Wherein K1=[k1 k2 k3],k1, k2, k3Indicate the gain coefficient of control function, ρ2Indicate the decaying system of wireless channel
Number, Δ v1For the speed difference of two vehicle of front and back, a0(t) acceleration of first car is indicated.Gain coefficient is controlled referring to following calculating；
4) real number ρ, is given1, λ, solve real matrixAnd V, meet linear matrix inequality,
Referring to (4):
Wherein, matrix Then control gain vector
5) range difference, speed difference and front truck acceleration that network obtains Ben Che and front truck by wireless communication calculate in real time
This vehicle acceleration, speed, distance controlling amount drive this vehicle to track front truck motion state；At next control period, exist again
Line measures range difference, speed difference and the front truck vehicle acceleration of front truck and this vehicle, so in cycles, realizes that vehicle is wirelessly communicating
The speed change cruise control of high real-time and accuracy under fading channel.
The present embodiment is the vehicle control process that vehicle speed variation cruises under wireless channel decaying, and operating process is as follows:
1, λ=- 0.8, ρ are inputted1=0.25, fading channel ρ2=0.97, this car engine constantTime response
It is spaced h1=2s, 0 to 6 seconds acceleration a of front truck0(t)=1m/s2, a later0(t)=0m/s2, minimum range d between two vehicles0=
8m。
2, the control coefrficient K of automobile variable speed cruise system is calculated by the calculation procedure write1, by input
Parameter substitutes into (4), finds out and meets MATRIX INEQUALITIES
V=[0.1186 0.0510 0.0667]
Then control coefrficient K is calculated by (4)1=[0.6406 0.3661-0.0049].
3, after obtaining control coefrficient, by wireless communication network obtain the range difference of Ben Che and front truck, speed difference and
Front truck acceleration calculates this vehicle acceleration, speed, distance controlling amount in real time, this vehicle is driven to track front truck motion state；Next
When a control period, range difference, speed difference and the front truck acceleration of on-line measurement front truck and this vehicle again, so in cycles,
Realize the speed change cruise control of vehicle high real-time and accuracy under radio communication channel decaying.
Actual Control Effect of Strong is as shown in Figure 1, Figure 2, Figure 3, Figure 4, and Fig. 1 is that vehicle speed change under radio communication channel decaying is patrolled
Practical following distance change curve in boat control；Fig. 2 is vehicle Ben Chejia in speed change cruise control under radio communication channel decaying
Speed change curves；Fig. 3 is vehicle speed change cruise control input quantity change curve under radio communication channel decaying, and Fig. 4 is nothing
This vehicle and front truck interval error change curve in the lower speed change cruise of line communication channel decaying.
Described above is the excellent vehicle that is shown of one embodiment for providing of the present invention in radio communication channel
Decay lower speed change cruise system control effect.It may be noted that above-described embodiment is used to illustrate the present invention, rather than to this hair
It is bright to be limited, within the spirit of the invention and the scope of protection of the claims, to any modification that the present invention makes, both fall within
Protection scope of the present invention.
Claims (1)
1. the vehicle speed variation cruise control method under a kind of radio communication channel decaying, which is characterized in that the control method packet
Include following steps:
1) three rank dynamic mathematical models of vehicle speed variation cruise control, are established, referring to formula (1):
Wherein, variable t is time, v0(t)、a0(t) velocity and acceleration of front truck is indicated；v1(t)、a1(t) speed of this vehicle is indicated
Degree and acceleration；Speed difference and the acceleration for respectively indicating two vehicle of front and back are poor；Indicate that the time of engine is normal
Number；It is this vehicle range error d1(t) about the derivative of time and d1(t)=d0+h1v1, d0It is the most narrow spacing of two vehicle of front and back
From h1It is time response interval；u1(t) it indicates this vehicle and leading vehicle distance is poor, speed difference, this vehicle Acceleration Control function；
2) it, definesWherein β1、a1Two spacing deviations, speed difference and rear car is respectively indicated to accelerate
Degree, then obtain vehicle speed variation cruise control system state-space model by formula (1), referring to formula (2):
WhereinWith
3), define vehicle radio communication channel decaying under speed change cruise system t moment spacing, speed, acceleration control letter
Number, referring to formula (3):
Wherein, K1=[k1 k2 k3] it is control gain vector, k1、k2And k3Indicate the gain coefficient of control function, Δ v1For front and back
The speed difference of two vehicles, ρ2Indicate the attenuation coefficient of wireless channel；
4) real number ρ, is given1, λ, solve real matrixAnd V, meet linear matrix inequality, referring to
(4):
Wherein, matrix Then control gain vector
5) range difference, speed difference and front truck acceleration that network obtains Ben Che and front truck by wireless communication calculate this vehicle in real time
Acceleration, speed, distance controlling amount drive this vehicle to track front truck motion state；It is again online to survey at next control period
Range difference, speed difference and the front truck acceleration of front truck and this vehicle are measured, so in cycles, realizes that vehicle declines in radio communication channel
Subtract the speed change cruise control of lower high real-time and accuracy.
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| CN201811306453.1A CN109552326B (en) | 2018-11-05 | 2018-11-05 | Vehicle variable speed cruise control method under wireless communication channel attenuation |
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| CN201811306453.1A CN109552326B (en) | 2018-11-05 | 2018-11-05 | Vehicle variable speed cruise control method under wireless communication channel attenuation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110569602A (en) * | 2019-09-10 | 2019-12-13 | 中国科学技术大学 | Data acquisition method and system for unmanned vehicle |
| CN111221341A (en) * | 2020-02-16 | 2020-06-02 | 翟桂芳 | Safe driving control method for automatic driving vehicle and vehicle-mounted controller |
| CN113696892A (en) * | 2021-08-13 | 2021-11-26 | 浙江零跑科技股份有限公司 | Self-adaptive cruise sliding mode control method for vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110569602A (en) * | 2019-09-10 | 2019-12-13 | 中国科学技术大学 | Data acquisition method and system for unmanned vehicle |
| CN110569602B (en) * | 2019-09-10 | 2022-04-19 | 中国科学技术大学 | Data acquisition method and system for unmanned vehicle |
| CN111221341A (en) * | 2020-02-16 | 2020-06-02 | 翟桂芳 | Safe driving control method for automatic driving vehicle and vehicle-mounted controller |
| CN111221341B (en) * | 2020-02-16 | 2021-02-05 | 深圳市京弘全智能科技股份有限公司 | Safe driving control method for automatic driving vehicle and vehicle-mounted controller |
| CN113696892A (en) * | 2021-08-13 | 2021-11-26 | 浙江零跑科技股份有限公司 | Self-adaptive cruise sliding mode control method for vehicle |
| CN113696892B (en) * | 2021-08-13 | 2023-01-31 | 浙江零跑科技股份有限公司 | Self-adaptive cruise sliding mode control method for vehicle |
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