The invention relates to a hybrid vehicle group switching cooperative control method based on event triggering under a communication interruption condition, and belongs to the field of intelligent vehicles and intelligent traffic. According to the method, firstly, a mixed traffic scene including a networked automatic vehicle, an automatic driving vehicle and a traditional person driving vehicle is designed, and four sub-vehicle group division rules are formulated; then, establishing a longitudinal dynamic model of heterogeneous vehicles in the hybrid vehicle group considering communication interruption, including dynamic models of a networked automatic vehicle, an automatic driving vehicle and a traditional person driving vehicle; and when the communication of the leading networked automatic vehicle of the sub-vehicle group is interrupted, the vehicle degenerates into an automatic driving vehicle and is combined with the previous sub-vehicle group to form a new sub-vehicle group. In order to guarantee the stability of the switching process, a cooperative control strategy based on event triggering is established. According to the method, the vehicle state is controlled through the event trigger function, the consistency and stability of mixed vehicle group cooperative driving are ensured, and the influence of communication interruption on mixed vehicle group cooperative control is solved.
本发明涉及一种通信中断条件下基于事件触发的混行车群切换协同控制方法,属于智能车辆与智慧交通领域。该方法首先设计了包含网联自动车、自动驾驶车和传统人驾车的混合交通场景,并制定了四种子车群划分规则。接着,建立了考虑通信中断的混行车群内异质车辆纵向动力学模型,包括网联自动车、自动驾驶车和传统人驾车的动力学模型。当子车群领头网联自动车发生通信中断时,该车辆退化成自动驾驶车,并与前一个子车群合并形成新的子车群。为保障切换过程的稳定性,本发明建立了基于事件触发的协同控制策略。该方法通过事件触发函数控制车辆状态,确保混行车群协同行驶的一致性和稳定性,解决了通信中断对混行车群协同控制的影响。
Hybrid vehicle group switching cooperative control method based on event triggering under communication interruption condition
一种通信中断条件下基于事件触发的混行车群切换协同控制方法
2025-05-02
Patent
Electronic Resource
Chinese
IPC: | G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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