The Cooperative Control And Distribution Optimization Of Multiple Autonomous Vehicle System In Dynamic Competition Environment

Multiple autonomous vehicle system has been a top research topic in the intelligent transportation field, the results of which contribute to the effective utilization of limited traffic resources and the safety of road transportation. The paper mainly does study on the cooperative control and distribution optimization of multiple autonomous vehicle system in dynamic competition environment, including the following control, the formation control,the cooperation control at the intersection and task allocation of multiple autonomous vehicles. The details are as follows:Firstly, building the following error model by leader-follower model, designing the controller to realize stable following control of the vehicle. Building the kinematic model of the autonomous vehicle, describing the relationship of the vehicles by leader-follower structure to get the following error model of the vehicles. Designing the following controller according to input-output feedback linearization theory and Lyapunov stability theory. The simulation results prove that the controller can realize stable following control of the autonomous vehicles.Secondly, describing the leader-follower relationships in the formation according to graph theory, realizing the stable formation control by the designed following controller. Expressing the formation by a graph,in which the verticles represent the vehicles and the edges represent the following relationships. Verifying the controlling effects of the typical formation and doing simulation experiments of the formation keeping and changing, the results prove that the controller can relize the stable control of the formation.Thirdly, building the multiple autonomous vehicle cooperation model at the intersection and solving the model. Analyzing the relationship of the distance varies with time between the vehicle and the intersection entrance, proposing the safety index. Aiming at the shortest time to through the intersection, proposing the rapidity index. The two indexes are weighted to get the cooperation model and the constraint conditions are given. Dealing with the model and solving it. The simulation experiments prove that the method can make the objective function converged and get the optimal accelerations of the vehicles.Finally, building the model of the typical traffic network and researching the task allocation problem of multiple autonomous vehicles. Proposing pro-allocation because the nodes in the traffic network distribute loosely, getting the node combinations of the pro-allocation as the starting points of task allocation. Introducing the ability and preference to reduce the bidding conflicts and planning the paths by Dijkstra algorithm. The simulation results prove that conducting pro-allocation can reduce the time of completing the tasks.In summary, aiming at the problem of the cooperative control and distribution optimization of multiple autonomous vehicle system in dynamic competition environment, the paper does theoretical study on following control, formation control, cooperative control at intersection and task allocation. The verification and analyses are done by simulation experiments.