Methods Of Vehicle Anti-collision Formation Control Based On Vehicle To Vehicle Communication

With the rapid increase of motor vehicle ownership in today's society,traffic congestion has become more and more serious,which has a great impact on people's work and life.In recent years,vehicle networking technology has attracted the attention of domestic and foreign automotive industry,which is the inevitable trend of future development in the field of intelligent transportation.Intelligent formation control of vehicles using vehicle to vehicle communication technology can make the vehicle space and speed more reasonable,and improve the road utilization and driving efficiency as well as improve the overall vehicle traffic efficiency.In this paper,the problems of formation generation,formation maintenance and collision in formation process are studied,and solutions to these problems are proposed,that is to design a vehicle anti-collision formation control algorithm based on vehicle to vehicle communication to achieve dynamic control of vehicles and achieve the desired control objectives.The main contents of this paper are as follows:Firstly,the bicycle model of the vehicle is selected as the kinematics model,and the mathematical expression of the angle between the pilot's central axis and the central connection of the two vehicles is obtained by combining with the Leader-Follwer model.And the error model of vehicle formation is finally obtained.Then,based on the error model of vehicle formation,a feedback linear control algorithm is designed.Aiming at the disadvantage that the feedback linear control algorithm requires high model accuracy and parameters,and it is difficult to meet the requirement in practice,an adaptive control algorithm is designed based on the principle of variable estimation.Considering that the formation control algorithm needs to accurately obtain the motion state information such as the speed and heading angle of the leader vehicle,the vehicle to vehicle communication is added to the control algorithm to ensure the accuracy of the data obtained in the controller,and also to make it more practical.The effect of the improved controller is verified through the VS2010-matlab/Simulink joint simulation experiment,and comparing with the results of traditional feedback linear controller,the effectiveness of the proposed adaptive feedback linear control algorithm is illustrated.Finally,aiming at the collision problems that may occur in formation process,an improved elliptic artificial potential field method is designed.By judging the location of obstacle vehicles,the collision possibility is predicted.A dynamic collision avoidance control algorithm is designed,which takes the vehicle spacing as a constraint condition and avoids collision during formation process by controlling the vehicle speed.At the same time,considering that it is difficult to achieve the multi-vehicle formation control by traditional leader-follower formation algorithm,the follower formation algorithm is improved appropriately as a virtual Leader-Follower formation algorithm for multi-vehicle.In order to verify the validity of the system,joint simulation experiments were carried out under the basic working conditions of three vehicles and the complex working conditions of five vehicles respectively.The experimental results show that with the help of the control of the system,multiple vehicles can travel in a predetermined queue,while ensuring that no collisions occur during the formation process.