Research on distributed algorithm and simulation verification of intelligent vehicle group cooperative control

Le résumé fourni par la source

The centralized architecture in intelligent vehicle group cooperative control has the challenges of high single point failure risk, poor scalability, time-varying communication topology and heterogeneous vehicles in dynamic traffic environment. This study proposes a distributed consistency algorithm based on time-varying directed graph. By constructing a dynamic weight adjustment mechanism, the adaptive balance between communication quality and control accuracy is realized, the second-order dynamic model of heterogeneous vehicles is established and the adaptive compensation term is introduced to control the formation keeping error within 0.3m; The integration of distributed state observer and event-triggered communication mechanism significantly enhances the robustness of the system under communication interruption and sensor failure. A diamond formation simulation system including four smart cars with heterogeneous parameters was built on the platform of MATLAB/Simulink, and 15% random packet loss rate, link interruption and sensor bias faults were injected for verification. The results show that the algorithm can achieve sub-meter formation convergence within 8s, and the root mean square error is stable at 0.22m; When communication is interrupted, the error fluctuation is less than 0.15m and can be recovered quickly; The control accuracy can be restored within 5s by distributed observation compensation under sensor failure. The algorithm has low computational complexity, real-time, reliability and expansibility, and provides an effective solution for the engineering application of smart car group collaboration.

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