Research On Control Strategy Of Intelligent Connected Vehicles Automatically Travelling On Highway

With the rapid development of the automotive industry,self-driving technology is improving continually,which provides the basis for the popularization of intelligent network technology.As the next stage in the development of autonomous driving,intelligent network technology greatly improves road driving safety and driving efficiency through cooperative control,and brings revolution to road traffic.It has gradually become an important research direction in the automotive industry.This paper studies the control strategy of the intelligent connected vehicles automatically travelling on highway,and establishes an intelligent connected control system,which is of great significance to the cooperative control in the highway scene.This paper first builds a vehicle control model based on the dynamics of the automobile system,and integrates the environment awareness function and the vehicle-mounted communication function into the model to realize intelligent connected vehicle modeling.A lateral controller for automatic driving is designed,using a control method that takes yaw rate as the target,through the steering wheel as an output,to achieve a single-point preview control driving at the optimal curvature according to the current speed direction,combined with the highway scene environment information to achieve lateral control.In the aspect of automatic driving longitudinal control,the fuzzy PID control method is adopted.The fuzzy control rules are formulated through continuous debugging,and the PID parameters are adaptively adjusted to achieve the speed of the vehicle under accelerated operating conditions on the premise of comfort.The braking curve is adjusted to complete the vehicle speed following deceleration conditions.The buffering control switching logic for acceleration and deceleration is designed to avoid frequent switching between throttle control and brake control under speed fluctuations,improving control efficiency and comfort.The main controller of the intelligent connected control system is designed to perform integrated control at the system level.By analyzing the driving process of the highway,the indicators of driving safety and control effect of the control system are designed.A sorting control method is adopted for vehicle queues on highway,and a cooperative vehicle speed control strategy is formulated according to the workshop model,and vehicle position cooperative control is performed by simulating V2 V and V2 I communication.Control strategies are formulated for different scenarios on the highway.In the no-ramp scene,the vehicles are classified according to the target speed to achieve the correspondence between the vehicle speed and the lane speed,and a cooperative lane change control method is designed,performing lane change scheduling for vehicles that do not match the lane speed limit.For the ramp scenario,a cooperative control strategy for the on-ramp and off-ramp is formulated.By setting the queue scheduling scheme of the general controller,on the premise of ensuring the safe distance of the vehicle queue,the on-ramp and off-ramp cooperation is realized according to the driving target of the vehicles.According to highway scene modeling and intelligent connected vehicle modeling,and based on intelligent connected control strategy,Matlab/Simulink and Prescan are used for cooperative simulation,and the control system is applied to various scenarios for simulation and analysis.The simulation results show that in a single-lane scenario,when the motorcade is at a random initial position,the control system can perform cooperative adjustment quickly,so that the queued vehicles are within the safe distance range,which can greatly improve safety compared to non-cooperative control In the multi-lane cooperative control simulation,the vehicle can be inserted into a dense traffic flow in a relatively short time.In the ramp scenario,in the case of dense traffic on the outside lane,the motorcade can be adjusted cooperatively before ramps to provide a safe distance for the vehicles entering and exiting the ramp to converge and drive away.