CN109725639B - Linear control method and device of cruise system - Google Patents
Linear control method and device of cruise system Download PDFInfo
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Abstract
The embodiment of the invention provides a linear control method and a linear control device of a cruise system, wherein the method comprises the following steps: defining state variables according to the vehicle speed and the vehicle distance of each vehicle in a vehicle queue supporting the V2V communication technology, and establishing a queue state equation by combining communication delay influence analysis; the vehicle queue comprises manned vehicles and CCC automatic control vehicles; defining a cost function according to the state variables, and constructing a vehicle cruise control optimization problem by combining the queue state equation; and solving the optimal vehicle cruise control problem according to a recursive derivation method to obtain a linear control strategy of the CCC automatic control vehicle. The embodiment of the invention can ensure that the automatically controlled vehicle reaches the ideal speed, and the safe distance is kept between the automatically controlled vehicle and the front vehicle, and simultaneously, the stability of a control system under the influence of long communication time delay is ensured.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic control, in particular to a linear control method and device of a cruise system.
Background
The cruise control is an automatic control method of the vehicle, can effectively improve road traffic efficiency, reduce traffic accidents and improve the fuel economy of the vehicle.
The cruise control (CCC) based on the internet of vehicles is an automatic control method for vehicles, which can effectively improve the road traffic efficiency and safety and reduce the energy consumption of the vehicles.
The CCC system senses state information such as speed, acceleration, distance to the front vehicle and the like of a road and a front vehicle by using a sensor and vehicle-to-vehicle (V2V) communication technology, so as to calculate a control strategy and control the vehicle to reach the ideal speed and distance. Due to the fact that the communication topology of the CCC system is flexible, heterogeneous vehicle queues are supported, and unstable factors are brought while the performance and the applicability of the cruise control system are improved. Meanwhile, due to the introduction of wireless communication into the system, communication unreliability needs to be studied and corresponding control strategy design needs to be performed.
In the current research on the control method of the CCC system, although the advantages brought by V2V communication are considered in the design of the control strategy, the limiting factors brought by communication are less considered, such as delay packet loss and the like, the influence of the time interval between the signals sent by the sensor and the communication equipment in practical application is not considered, the research on the influence of V2V communication delay on the control strategy is not considered, and the stability of the system in practical application is difficult to guarantee.
At present, no method is available, which can adapt to the influence of communication long time delay in practice, so that a control vehicle can follow the speed of a front vehicle to move forward under the condition of keeping a safe vehicle distance, and the stability of a cruise control system under the influence of the communication long time delay is ensured.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides a linear control method and device of a cruise system.
In a first aspect, an embodiment of the present invention provides a method for controlling linearity of a cruise system, including:
defining state variables according to the vehicle speed and the vehicle distance of each vehicle in a vehicle queue supporting the V2V communication technology, and establishing a queue state equation by combining communication delay influence analysis; the vehicle queue comprises manned vehicles and CCC automatic control vehicles;
defining a cost function according to the state variables, and constructing a vehicle cruise control optimization problem by combining the queue state equation;
and solving the optimal vehicle cruise control problem according to a recursive derivation method to obtain a linear control strategy of the CCC automatic control vehicle.
In a second aspect, an embodiment of the present invention provides a linear control device for a cruise system, including:
the system modeling module is used for defining state variables according to the speed and the distance of each vehicle in the vehicle queue supporting the V2V communication technology and establishing a queue state equation by combining communication delay influence analysis; the vehicle queue comprises manned vehicles and CCC automatic control vehicles;
the problem construction module is used for defining a cost function according to the state variables and constructing a vehicle cruise control optimization problem by combining the queue state equation;
and the calculation processing module is used for solving the vehicle cruise control optimization problem according to a recursive derivation method to obtain a linear control strategy of the CCC automatic control vehicle.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method provided in the first aspect when executing the program.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the method as provided in the first aspect.
According to the linear control method and device of the cruise system, provided by the embodiment of the invention, the influence of the long communication time delay of V2V is introduced into the CCC control problem, the state equation of the whole vehicle queue system is constructed, the optimization problem is established, and the optimal control strategy of the automatic control vehicle is finally obtained, so that the automatic control vehicle can reach the ideal vehicle speed, the safe vehicle distance with the front vehicle is kept, and the stability of the control system under the influence of the long communication time delay is ensured.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a flow chart illustrating a method for controlling the linearity of a cruise system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a scenario of an optimal linear control method of the cruise control system according to an embodiment of the present invention;
FIG. 3 is a time delay analysis diagram of a long-delay cruise system according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a linear control device of a cruise system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a method for controlling linearity of a cruise system according to an embodiment of the present invention, as shown in fig. 1, including:
s101, defining state variables according to the speed and the distance of each vehicle in a vehicle queue supporting the V2V communication technology, and establishing a queue state equation by combining communication delay influence analysis; the vehicle queue comprises manned vehicles and CCC automatic control vehicles.
It should be noted that, in the embodiment of the present invention, the vehicle queue includes two types of vehicles: a human-driven vehicle and a CCC (Connected Cruise Control, Cruise Control based on the internet of vehicles) automatically Control the vehicle. The CCC autonomous vehicle may acquire status information of other vehicles in the queue, including inter-vehicle-to-vehicle (V2V) communication, including vehicle distance, vehicle speed, and acceleration information, to model the entire vehicle queue according to the relationship between vehicle distance, vehicle speed, and acceleration of each vehicle in the vehicle queue. There may be a plurality of vehicles in the vehicle queue, including a plurality of automatic control vehicles and a plurality of manned vehicles, and the sequence of the two vehicles may be randomly arranged, for example, the vehicle queue sequentially from front to back: the method comprises the following steps of head vehicle-automatic control vehicle-manned vehicle-automatic control vehicle- … -tail vehicle, wherein the head vehicle is the first vehicle at the head of a queue, the tail vehicle is the last vehicle at the tail of the queue, and the head vehicle and the tail vehicle can be manned vehicles or CCC automatic control vehicles.
Since the automatic control vehicle does not need to consider the vehicle state of the vehicle behind, in order to describe the technical scheme simply and clearly, the embodiment of the invention takes the tail car as the CCC automatic control vehicle as an example. It is understood that when the model of the fleet changes, the modeling method provided by the embodiment of the invention can be used to construct the corresponding state equation according to the specific situation of the fleet, and the optimal linear control strategy provided by the embodiment of the invention is also applicable to the control of the automatically controlled vehicle in the more complex models.
And S102, defining a cost function according to the state variables, and constructing an optimization problem of vehicle cruise control by combining the queue state equation.
It should be noted that after the queue state equation of the whole vehicle queue is obtained, the vehicle cruise control optimization problem with long communication delay can be constructed. Since it is difficult to directly solve the optimization problem, generally speaking, a new state variable can be introduced, the original optimization problem is equivalently transformed, and then the solution is performed, so as to obtain the optimal linear control strategy of the vehicle cruise control system.
S103, solving the vehicle cruise control optimization problem according to a recursive derivation method to obtain a linear control strategy of the CCC automatic control vehicle.
It should be noted that, because the linear control strategy is used in the method, the vehicle cruise control optimization problem is equivalently converted, and the optimization problem solution is converted into the coefficient solution of the optimal linear control strategy. It is clear to a person skilled in the art that the solution of the optimization problem, being the optimal linear control strategy, can be written first, for example, as uk＝-LkzkIn the general form of (1), solving an optimization problem, i.e. on the coefficient LkAnd (6) solving. And then, by using a recursive derivation method, gradually solving to obtain the coefficient of the optimal linear control strategy in the cruise control system. After the coefficient of the optimal linear control strategy is obtained, the optimal control strategy at the current moment is generated in real time by combining the control strategy of the CCC automatic control vehicle at each historical moment and the state variable at the current moment, so that the stable control of the CCC automatic control vehicle is realized.
According to the linear control method provided by the embodiment of the invention, the vehicle queue is integrally modeled, and the influence of the V2V communication time delay characteristic on the state equation of the vehicle queue is analyzed to obtain the optimal control strategy of the cruise control system based on the internet of vehicles, which considers the influence of long time delay, so that the stable control of the CCC automatic control vehicle is realized. The method has the advantages that the V2V communication is applied to the automatic cruise control system of the vehicle, and the influence of the communication long time delay on the control system is analyzed, so that the optimal control strategy is designed, and the stability of the automatic cruise control system is improved.
On the basis of the above embodiment, as an optional embodiment, in the embodiment of the present invention, a state variable is defined according to the vehicle speed and the vehicle distance of each vehicle in a vehicle queue supporting the V2V communication technology, and a queue state equation is established by combining communication delay influence analysis, specifically:
acquiring dynamic information of each vehicle in a vehicle queue through V2V communication, wherein a tail vehicle in the vehicle queue is a CCC automatic control vehicle, and the dynamic information comprises the speed and the acceleration of each vehicle and the distance between each vehicle except a head vehicle and a preceding vehicle;
according to the dynamic information of each vehicle in the queue, defining the state variable x, and when m +1 vehicles exist in the queue:
wherein,
representing the difference between the current vehicle distance of the mth vehicle and the m +1 th vehicle and the ideal vehicle distance;
representing the difference between the current speed of the mth vehicle and the ideal speed, wherein the ideal speed is set as the current speed of the first vehicle, namely the (m +1) th vehicle; the numbers of the corner marks are vehicle numbers, the No. 1 vehicle is positioned at the tail part of the queue, and the No. m +1 vehicle is positioned at the head part of the queue;
acquiring a communication delay tau, setting a sampling period to be T, setting the communication delay tau in a range of [ hT, (h +1) T ], setting h as a positive integer, and establishing a queue state equation according to the state variables:
xk+1＝Akxk+Bk1uk-h+Bk2uk-h-1
wherein x iskState variable, x, representing the current time kk＝x(kT)；uk-hDenotes the latest received control strategy under the influence of the time delay τ, Ak、Bk1And Bk2Are all intrinsic parameters.
It is easily understood that the vehicle distance refers to the distance between the following vehicle and the preceding vehicle, and since the head vehicle is located at the head of the queue, only the vehicle speed and acceleration information thereof are acquired for the head vehicle. After obtaining the dynamic information of each vehicle, the state variables can be obtained by combining the ideal vehicle speed and the ideal vehicle distance. The ideal vehicle distance and the ideal vehicle speed meet a vehicle distance strategy, and when m +1 vehicles exist in the queue, the specific formula of the state variable is as follows:
wherein,
representing the difference between the current vehicle distance of the mth vehicle and the m +1 th vehicle and the ideal vehicle distance;
indicates the difference between the current vehicle speed of the m-th vehicle and the ideal vehicle speed, which is set to the current vehicle speed of the head vehicle, i.e., the m + 1-th vehicle. It is understood that, in the embodiment of the present invention, the head vehicle is the m +1 th vehicle, and the tail vehicle is the 1 st vehicle.
Vehicles in the vehicle fleet may each be in V2V communication so that other vehicles may share status information to the CCC autonomous vehicle. And obtaining a queue state equation with time delay by analyzing the influence of the communication time delay characteristic on the CCC automatic control vehicle.
According to the embodiment of the invention, the vehicle queue is integrally modeled, the influence of time delay characteristics in communication is considered, a vehicle queue state equation and an optimization problem are constructed, and the optimization problem is solved to obtain the optimal control strategy of the cruise control system based on the Internet of vehicles, so that the stable control of the CCC automatic control vehicle is realized. The method has the advantages that the V2V communication is applied to the vehicle automatic cruise control system, the influence of the communication long time delay on the control system is analyzed, the optimal linear control strategy is obtained by adopting a recursive derivation method, and the stability of the automatic cruise control system is improved.
Fig. 2 is a scene schematic diagram of an optimal linear control method of a cruise control system according to an embodiment of the present invention, and for convenience of understanding, a vehicle queue according to an embodiment of the present invention includes 3 vehicles, where two vehicles are manned vehicles, one vehicle is a CCC automatic control vehicle, and as shown in fig. 2, vehicle 1 is a tail vehicle and is a CCC automatic control vehicle, and vehicles 2 and 3 are both manned vehicles, and vehicle 3 is a head vehicle. Each vehicle in the fleet is equipped with a communication device and the CCC autonomous vehicle at the end of the fleet may receive status information for other vehicles, including vehicle distance, vehicle speed, and acceleration, using V2V communication technology.
In order to establish the state equation of the vehicle queue, the dynamic state of the vehicles needs to be modeled, namely the relationship among the speed, the distance and the acceleration of each vehicle in the queue is analyzed. Defining state variables
Wherein,
represents the vehicle distance error, namely the difference between the current vehicle distance and the ideal vehicle distance between the vehicle and the previous vehicle,
the vehicle speed error is represented, namely the difference between the current vehicle speed and the ideal vehicle speed of the vehicle, the ideal vehicle speed is set as the vehicle speed of the No. 3 vehicle, the ideal vehicle distance can be adjusted according to the ideal vehicle speed according to the actual situation, and the corner marks represent the numbers of the vehicles and correspond to the graph 2. Let the sampling period be T, and let tau be [ hT, (h +1) T since the communication delay tau is related to the actual environment]H is a positive integer, a control signal u (T) of the CCC automatic control vehicle can be considered as a piecewise constant, and the sampling interval is [ kT, (k +1) T) according to the vehicle speed and the vehicle distance information of the vehicle]Within the range of (2), establishing a queue state equation:
xk+1＝Akxk+Bk1uk-h+Bk2uk-h-1；
wherein x iskState variable representing the current time, k representing the current point in time, xk＝x(kT)；uk-hRepresenting the latest received control strategy under the influence of the time delay tau; a. thek、Bk1And Bk2Are all system intrinsic parameters.
In order to realize the optimal control of the system, a quadratic function is selected as a cost function, and the cost function is specifically as follows:
wherein, JNFor the cost function, N represents the total number of time points, xNA state variable representing the time at N is shown,
in the present embodiment, ∈ may be 0.01, R represents a predetermined coefficient, and in the present embodiment, R is set to 1.
To solve the optimal control strategy, z is definedk＝[xk T uk-1 … uk-h uk-h-1]TThe current state and the previously calculated control strategy are indicated. Z is akIntroducing a queue state equation to obtain a rewritten queue state equation:
zk+1＝Ckzk+Dkuk
wherein,
0 and I represent a 0 matrix and an identity matrix, respectively.
From the cost function and the vehicle queue system model, a cruise control optimization problem can be constructed as follows:
s.t.zk+1＝Ckzk+Dkuk；
wherein,
according to the optimal control theory, for the above optimization problem, the control strategy can be written in the form of:
uk＝-Lkzk；
wherein:
Lk＝[Dk TSk+1Dk+R]-1Dk TSk+1Ck
that is, the vehicle cruise control optimization problem is converted into the coefficient L to the optimal control strategykAnd (5) solving the problem.
Defining a residual cost function for solving the optimal control strategy coefficient
1) When j is N, the remaining cost function of the system is:
order to
Then
VN＝zN TSNzN
2) When j is N-1, the remaining cost function of the system is:
according to zN＝CN-1zN-1+DN-1uN-1It is possible to obtain:
wherein H1,1,H1,2,H2,1,H2,2In coefficients, the form is as follows:
the optimal control strategy is in the form of:
uN-1＝-LN-1zN-1
make the cost function VN-1Taking the minimum value, then: l isN-1＝H2,2 -1H2,1I.e. by
Subjecting the obtained u toN-1＝-LN-1zN-1Substituted into VN-1In the middle, let
The following results were obtained:
3) when j is N-2, …,1,0, the remaining cost function of the system is:
similar to the case of j ═ N-1, let
Wherein
The optimal control strategy is in the form of:
uj＝-Ljzj
make the cost function VjTaking the minimum value, then: l isj＝H2,2 -1H2,1I.e. by
Subjecting the obtained u toj＝-LjzjSubstituted into VjIn the middle, let
The following results were obtained:
and (4) iteratively solving the coefficient of the optimal control strategy from back to front, namely when j is equal to N, obtaining SN(ii) a According to SNObtaining LN-1And then obtaining SN-1(ii) a According to SN-1Obtaining LN-2And then obtaining SN-2(ii) a By analogy, all the coefficients L of the optimal control strategy can be obtained by solvingk. Thus, L corresponding to each moment is obtained through calculationkBased on the status information obtained at each time, u can be usedk＝-LkzkReal-time calculation of u in chronological order (from k 0 to k N-1)kThus, a real-time control signal is obtained, and the CCC automatic control vehicle is automatically controlled according to the real-time control signal.
Fig. 3 is a time delay analysis diagram of a cruise system with long time delay according to an embodiment of the present invention, since V2V communication is introduced into the system, state information such as vehicle speed, vehicle distance, acceleration, etc. can be shared between vehicles, and time delay is brought at the same time. The vehicle state information is sensed from the vehicle-mounted sensor, the state information is sent to the CCC automatic control vehicle through V2V communication, then the control signal is calculated and executed by the controller according to the vehicle state in the queue, the total time delay can be represented by communication time delay tau, the tau is a value in a range of [ hT, (h +1) T ], and h is a positive integer.
Fig. 4 is a schematic structural diagram of a linear control device of a cruise system according to an embodiment of the present invention, and as shown in the figure, the device includes a system modeling module 401, a problem construction module 402, and a calculation processing module 403, specifically:
the system modeling module is used for defining state variables according to the speed and the distance of each vehicle in the vehicle queue supporting the V2V communication technology and establishing a queue state equation by combining communication delay influence analysis; the vehicle queue comprises manned vehicles and CCC automatic control vehicles;
the problem construction module is used for defining a cost function according to the state variables and constructing a vehicle cruise control optimization problem by combining the queue state equation;
and the calculation processing module is used for solving the vehicle cruise control optimization problem according to a recursive derivation method to obtain a linear control strategy of the CCC automatic control vehicle.
The linear control device of the cruise system according to the embodiment of the present invention specifically executes the embodiment process of the linear control method, and please refer to the contents of the above method embodiments for details, which are not described herein again. According to the embodiment of the invention, the vehicle queue is integrally modeled, the influence of time delay characteristics in communication is considered, a vehicle queue state equation and an optimization problem are constructed, and the optimization problem is solved to obtain the optimal control strategy of the cruise control system based on the Internet of vehicles, so that the stable control of the CCC automatic control vehicle is realized. The method has the advantages that the V2V communication is applied to the automatic cruise control system of the vehicle, and the influence of the communication long time delay on the control system is analyzed, so that the optimal control strategy is designed, and the stability of the automatic cruise control system is improved.
Fig. 5 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 5, the electronic device may include: a processor (processor)510, a communication Interface (Communications Interface)520, a memory (memory)530 and a communication bus 540, wherein the processor 510, the communication Interface 520 and the memory 530 communicate with each other via the communication bus 540. Processor 510 may invoke a computer program stored on memory 530 and executable on processor 510 to perform the methods provided by the various embodiments described above, including, for example: defining state variables according to the vehicle speed and the vehicle distance of each vehicle in a vehicle queue supporting the V2V communication technology, and establishing a queue state equation by combining communication delay influence analysis; the vehicle queue comprises manned vehicles and CCC automatic control vehicles; defining a cost function according to the state variables, and constructing a vehicle cruise control optimization problem by combining the queue state equation; and solving the optimal vehicle cruise control problem according to a recursive derivation method to obtain a linear control strategy of the CCC automatic control vehicle.
Furthermore, the logic instructions in the memory 530 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or make a contribution to the prior art, or may be implemented in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Embodiments of the present invention further provide a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the method provided in the foregoing embodiments when executed by a processor, and the method includes: defining state variables according to the vehicle speed and the vehicle distance of each vehicle in a vehicle queue supporting the V2V communication technology, and establishing a queue state equation by combining communication delay influence analysis; the vehicle queue comprises manned vehicles and CCC automatic control vehicles; defining a cost function according to the state variables, and constructing a vehicle cruise control optimization problem by combining the queue state equation; and solving the optimal vehicle cruise control problem according to a recursive derivation method to obtain a linear control strategy of the CCC automatic control vehicle.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. A method of linear control of a cruise system, comprising:
defining state variables according to the vehicle speed and the vehicle distance of each vehicle in a vehicle queue supporting the V2V communication technology, and establishing a queue state equation by combining communication delay influence analysis; the vehicle queue comprises manned vehicles and CCC automatic control vehicles;
defining a cost function according to the state variables, and constructing a vehicle cruise control optimization problem by combining the queue state equation;
solving the vehicle cruise control optimization problem according to a recursive derivation method to obtain a linear control strategy of the CCC automatic control vehicle, which specifically comprises the following steps:
according to the optimal control theory, the control strategy of the current k moment is expressed as uk＝-LkzkWherein L iskThe number of the coefficients is represented by,
Lk＝[Dk TSk+1Dk+R]-1Dk TSk+1Ck，
order to
Carry-in coefficient LkIn (1), obtaining LN-1Is prepared by mixing LN-1Carry-in function SkIn (1), obtain SN-1And so on until obtaining the coefficient L corresponding to each momentkIn combination with zkAnd calculating to obtain a control strategy u at the current k momentk，
And, the expression of the vehicle cruise control optimization problem is:
s.t.zk+1＝Ckzk+Dkuk；
wherein z isk＝[xk T uk-1...uk-huk-h-1]TRepresenting a set of current states and previously calculated control strategies; z is a radical ofk+1＝Ckzk+Dkuk，
0 and I respectively represent a 0 matrix and an identity matrix;
n is a positive integer greater than k, which is a predetermined coefficient.
2. The method according to claim 1, characterized in that the vehicle speed and the vehicle distance of each vehicle in the vehicle queue supporting the V2V communication technology define state variables, and a queue state equation is established by combining communication delay influence analysis, specifically:
acquiring dynamic information of each vehicle in a vehicle queue through V2V communication, wherein a tail vehicle in the vehicle queue is a CCC automatic control vehicle, and the dynamic information comprises the speed and the acceleration of each vehicle and the distance between each vehicle except a head vehicle and a preceding vehicle;
according to the dynamic information of each vehicle in the queue, defining the state variable x, and when m +1 vehicles exist in the queue:
wherein,
representing the difference between the current vehicle distance and the ideal vehicle distance between the m +1 th vehicle and the m +1 th vehicle;
representing the difference between the current speed of the mth vehicle and the ideal speed, wherein the ideal speed is set as the current speed of the first vehicle, namely the (m +1) th vehicle; the numbers of the corner marks are vehicle numbers, the No. 1 vehicle is positioned at the tail part of the queue, and the No. m +1 vehicle is positioned at the head part of the queue;
acquiring a communication delay tau, setting a sampling period to be T, setting the communication delay tau in a range of [ hT, (h +1) T ], setting h as a positive integer, and establishing a queue state equation according to the state variable:
xk+1＝Akxk+Bk1uk-h+Bk2uk-h-1
wherein x iskState variable, x, representing the current time kk＝x(kT)；uk-hDenotes the latest received control strategy under the influence of the time delay τ, Ak、Bk1And Bk2Are all intrinsic parameters.
3. The method according to claim 1, wherein the cost function is specifically:
wherein, JNFor the cost function, N represents the total number of time points, xNAnd represents the state variable at the time of N, and Q and R represent preset coefficients.
4. A linear control device for a cruise system, comprising:
the system modeling module is used for defining state variables according to the speed and the distance of each vehicle in the vehicle queue supporting the V2V communication technology and establishing a queue state equation by combining communication delay influence analysis; the vehicle queue comprises manned vehicles and CCC automatic control vehicles;
the problem construction module is used for defining a cost function according to the state variables and constructing a vehicle cruise control optimization problem by combining the queue state equation;
the calculation processing module is used for solving the vehicle cruise control optimization problem according to a recursive derivation method to obtain a linear control strategy of the CCC automatic control vehicle, and specifically comprises the following steps:
according to the optimal control theory, the control strategy of the current k moment is expressed as uk＝-LkzkWherein L iskThe number of the coefficients is represented by,
Lk＝[Dk TSk+1Dk+R]-1Dk TSk+1Ck，
order to
Carry-in coefficient LkIn (1), obtaining LN-1Is prepared by mixing LN-1Carry-in function SkIn (1), obtain SN-1And so on until obtaining the coefficient L corresponding to each momentkIn combination with zkAnd calculating to obtain a control strategy u at the current k momentk，
And, the expression of the vehicle cruise control optimization problem is:
s.t.zk+1＝Ckzk+Dkuk；
wherein z isk＝[xk T uk-1...uk-h uk-h-1]TRepresenting a set of current states and previously calculated control strategies; z is a radical ofk+1＝Ckzk+Dkuk，
0 and I respectively represent a 0 matrix and an identity matrix;
n is a positive integer greater than k, which is a predetermined coefficient.
5. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 3 when executing the program.
6. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the method according to any one of claims 1 to 3.
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