Research On Group Cooperative Control Strategy Of Intelligent Networked Vehicles

In order to give full play to the advantages of autonomous driving technology,single-vehicle autonomous driving technology is developing towards multi-vehicle autonomous driving technology.The development of multi-intelligent network vehicle group collaborative control technology can alleviate traffic congestion,energy waste and road safety to the greatest extent.Firstly,the kinematics and dynamics model of a single vehicle is established.The dynamic model of the vehicle can better describe the dynamic performance of the vehicle and can adapt to the automatic driving of the vehicle at high speed.Therefore,this paper selects a more realistic vehicle dynamics model for analysis.Secondly,this paper introduces trajectory planning methods such as A,D*,RRT and artificial potential field method,and makes A comparative analysis of these methods.Because of the good effect of model predictive control in trajectory tracking,this paper adopts the control method based on model predictive.Then,aiming at the error transfer problem of the general pilot-following method,this paper proposes an improved pilot-following method.The error transfer problem is effectively improved,and the safety and stability of multi-intelligent network vehicle group are improved.Finally,based on the trajectory tracking controller designed in this paper,the improved pilot-following method is adopted as the control method of multi-vehicle cooperative control,and the simulation analysis is carried out under the two working conditions of straight line and curve.The experimental results show that the multi-vehicle cooperative control method solves the error transfer problem of the traditional pilot following method well.