Research On Vehicle Formation Based On Adaptive Control Algorithm

This paper studies the problem of vehicle formation control,which is one of the important research directions of intelligent vehicle road coordination system.The research on vehicle formation helps to improve the intelligence and reliability of the traffic system.After analyzing the related fields of formation control at home and abroad,this paper studies the vehicle formation control problem under the pilot following control algorithm.The main research contents are as follows:First,the error model of the pilot following the two cars and the longitudinal and lateral speeds of the following vehicle are given.Based on the control algorithm of pilot navigation,an improved motion model is proposed based on the traditional two-vehicle motion model.According to the model,the error models of the two-vehicle piloting are lateral error,longitudinal error and angular error,respectively.The formation problem is transformed into a two-car piloting problem.Secondly,the feedback control strategy of pilot navigation is designed.Combined with the error model of the two cars,the feedback controller of the two-vehicle piloting is designed by using Lyapunov stability theory.According to the set initial position and running speed,the simulation results of the running state of the two vehicles are carried out.The experimental results show that under the action of the controller,the following vehicle can always be at the desired distance and angle of the pilot vehicle,ensuring that the two vehicles are in the It is always stable during operation.Thirdly,a robust control strategy for two-vehicle following is designed.In the case of external disturbance,a robust controller with two-vehicle following is designed according to the existing feedback controller and robust control principle.The robust controller has certain advantages in resisting external interference and maintaining system stability..Through the simulation experiments of two types of controllers in the presence of external interference and no external interference,the experimental results show that the two controllers can ensure the stability of the formation without external interference.Under the interference,only the robust adaptive controller can guarantee the stable operation of the formation.Finally,the organizational structure of the multi-vehicle formation was determined.Based on the theory of graph theory and the robust control strategy,this paper extends the controller to a vehicle formation consisting of multiple vehicles.Taking the triangular team composed of five vehicles as an example,the adjacency matrix and the parameter matrix are designed respectively.Through the simulation of the two car matrix and the initial conditions,the whole formation is simulated to compare the influence of the vehicle on the control results under different formation modes.The simulation results determine the formation organization rules with the least number of layers.And through multi-vehicle formation simulation,it is proved that the robust adaptive control strategy and the formation rules with the lowest number of layers can achieve the stable operation of the entire vehicle formation.