CN-121982874-A - Heterogeneous vehicle queue control method based on event trigger mechanism under undirected topology

CN121982874ACN 121982874 ACN121982874 ACN 121982874ACN-121982874-A

Abstract

The invention discloses a heterogeneous vehicle queue control method based on an event triggering mechanism under undirected topology, which comprises the steps of constructing a heterogeneous vehicle queue system, describing a cooperative control problem of a heterogeneous vehicle queue formed by a leader vehicle and a follower vehicle through the heterogeneous vehicle queue system, designing a layered control framework comprising an observation layer and a tracking layer based on the heterogeneous vehicle queue system, performing cooperative control on the heterogeneous vehicle queue through the layered control framework, introducing the event triggering mechanism into the observation layer of the layered control framework according to undirected switching communication topology among vehicles, designing an event triggering observer, estimating a leader state, designing a plurality of local tracking controllers in the tracking layer of the layered control framework based on the observation state of the leader and the self state of the follower, tracking the leader state, analyzing the stability of the heterogeneous vehicle queue system, verifying the observation capability of the observer and the tracking capability of the controllers, and performing cooperative control on the heterogeneous vehicle queue.

Inventors

WU YILIN
SHEN ZHIPING
HUANG HAI
ZHENG YUHUANG
ZHANG QIAN
LIAO HUI
QIN LIMEI
TANG YAQI

Assignees

广东第二师范学院

Dates

Publication Date: 20260505
Application Date: 20260227

Claims (10)

1. The heterogeneous vehicle queue control method based on the event triggering mechanism under the undirected topology is characterized by comprising the following steps of: constructing a heterogeneous vehicle queue system, and describing cooperative control problems of a heterogeneous vehicle queue consisting of a leader vehicle and a follower vehicle through the heterogeneous vehicle queue system; based on the heterogeneous vehicle queue system, designing a layered control frame comprising an observation layer and a tracking layer, and cooperatively controlling the heterogeneous vehicle queue through the layered control frame; according to undirected switching communication topology among vehicles, introducing an event triggering mechanism into an observation layer of a layered control framework, designing an event triggering observer, and estimating a leader state; in a tracking layer of the hierarchical control framework, a plurality of local tracking controllers are designed based on the observation state of a leader and the self state of a follower, and the state of the leader is tracked; and analyzing the stability of the heterogeneous vehicle queue system, verifying the observation capability of the observer and the tracking capability of the controller, and performing cooperative control on the heterogeneous vehicle queue.
2. The heterogeneous vehicle queue control method based on the event trigger mechanism under the undirected topology according to claim 1, wherein constructing the heterogeneous vehicle queue system comprises: leader vehicle tag 0, follower vehicle tags 1 to N, and undirected graph for communication between N follower vehicles The representation is made of a combination of a first and a second color, Is a node set; Is an edge set; Representing follower vehicles Vehicle capable of receiving follower Information of (2); definition enhancement map , To include a node set of the leader vehicle and all follower vehicles, Representing an edge set comprising communications between a leader vehicle and follower vehicles; And (3) with Characterizing communication topology between vehicles, modeling a switching topology as , Is that Switching topology signals at time.
3. The heterogeneous vehicle queue control method based on the event trigger mechanism under the undirected topology according to claim 2, wherein constructing the heterogeneous vehicle queue system comprises: the dynamics model of the follower vehicle is constructed as follows: ; In the formula, Representation of Time follower vehicle Is used for the control of the state of (a), , Representation of Time follower vehicle Is provided in the position of (a), Representation of Time follower vehicle Is used for the speed of the (c) in the (c), Representation of Time follower vehicle Acceleration of (2); Representation of Time follower vehicle Control input of (a); Representation of Time follower vehicle An output of (2); Representation of First derivative with respect to time; Representing follower vehicles Is a system matrix of (a); Representing follower vehicles Is a matrix of inputs to the computer; Representing follower vehicles Is a matrix of outputs of (a); 、、 Expressed as: ; In the formula, Representing follower vehicles Is a hysteresis of inertia of (a).
4. The heterogeneous vehicle queue control method based on the event triggering mechanism under the undirected topology according to claim 3, wherein constructing the heterogeneous vehicle queue system comprises: the dynamic model of the leader vehicle is constructed as follows: ; In the formula, Representation of The state of the leader vehicle at the moment; , Representation of The location of the leader's vehicle at the moment, Representation of The speed of the vehicle at the time leader, Representation of The output of the time leader vehicle; Representation of First derivative with respect to time; a system matrix representing a leader vehicle; an output matrix representing the leader vehicle; 、 Expressed as: ; In the formula, Representing the transpose of the matrix.
5. The heterogeneous vehicle queue control method based on the event triggering mechanism under the undirected topology according to claim 4, wherein a hierarchical control framework comprising an observation layer and a tracking layer is designed, specifically: the upper observation layer designs event triggering observers for each follower vehicle so that the follower vehicle can observe the state of a leader and generate a desired tracking track; The lower tracking layer designs a local tracking controller for each follower vehicle, ensures that each follower can track the track generated by the observer of the follower, and finally realizes the cooperative and stable operation of the heterogeneous vehicle queues; The layered control framework decouples communication from control in that vehicles communicate only at event trigger times at upper layers, while lower controllers are responsible for ensuring tracking performance of the vehicles.
6. The heterogeneous vehicle queue control method based on the event triggering mechanism under the undirected topology according to claim 5, wherein the event triggering observer is designed specifically as follows: ; In the formula, Representation of First derivative with respect to time; Representation of Time follower vehicle An observation of a leader vehicle state; Representation of Time follower vehicle With entering a neighbor follower vehicle The communication connection state between if Time of day Then Otherwise And (2) and ; Representing follower vehicles Is the first of (2) The time of the triggering of the event is the same, Representing follower vehicles Is the first of (2) The time of the triggering of the event is the same, Designing parameters for the observer; In order for the desired pitch vector to be present, , Representing an expected spacing between adjacent vehicles; Representing follower vehicles An observer state estimate at the event trigger time; Representing follower vehicles Is in the neighborhood of the follower vehicle The observer state estimate at the event trigger time satisfies the following equation: ; ; In the formula, Representing follower vehicles At the moment of time Subscript at last trigger time before For the trigger time at the follower vehicle Sequence numbers in the trigger sequence of (2).
7. The method for heterogeneous vehicle queue control based on event triggering mechanism in undirected topology according to claim 6, wherein the event triggering mechanism is determined by a triggering function, Time follower vehicle Is a trigger function of (2) The method comprises the following steps: ; In the formula, Representing norms; For follower vehicles The estimated error being projected into a rotating coordinate system synchronized with the leader vehicle motion by an amount of ; Is that Time of day and follower vehicle The total number of vehicles for which a communication link exists, 、 Is positive constant, and the trigger time is defined by Determining that inf represents a infinit, only if the trigger condition is If so, the vehicle is triggered; under the combined communication undirected topology, the triggering moment and the topology switching moment can generate vehicle-to-vehicle communication, and the triggering moment is that Follower vehicle For all its neighbors Is of the observed value of (2) Sampling is carried out, and the self state information and the triggering time are sent to all neighbors.
8. The heterogeneous vehicle queue control method based on the event triggering mechanism under the undirected topology according to claim 7, wherein the local tracking controller is designed, specifically: ; In the formula, Is that Time follower vehicle Is provided with a local tracking controller for controlling the tracking of the object, For follower vehicles A state feedback gain matrix of (2); For follower vehicles Is a state feedforward gain matrix of the observer; for an expansion vector of the desired pitch, 。
9. The heterogeneous vehicle queue control method based on the event triggering mechanism under the undirected topology according to claim 8, wherein the verification of the observation capability of the event triggering observer is specifically: definition of the observed error , The following steps are: ; In the formula, Representation of First derivative with respect to time; Representation of An estimate of time observer error; represents the kronecker product; 、 Respectively representing a 2-dimensional identity matrix and an N-dimensional identity matrix; in order for the parameters of the design of the observer, ; When parameters in the trigger function, the event trigger mechanism and the event trigger observer meet the conditions, the observation error converges to 0.
10. The heterogeneous vehicle queue control method based on the event triggering mechanism under the undirected topology according to claim 9, wherein the verification of the tracking capability of the local tracking controller is specifically: Suppose for a follower vehicle There is a column full order matrix So that the following set of linear equations holds: ; for an event trigger mechanism, an event trigger observer and a local tracking controller under the joint connected undirected topology, if a state feedback gain matrix is selected So that Is Hertzian, selects an observer state feedforward gain matrix Satisfy the following requirements The cooperative control target of the vehicle queue can be realized; Definition of tracking error Obtaining With respect to time Is: ; In the formula, Is that First derivative with respect to time due to matrix Is helvetz, thus tracking error Converging to 0, thereby realizing cooperative control of heterogeneous vehicle queues.

Description

Heterogeneous vehicle queue control method based on event trigger mechanism under undirected topology Technical Field The invention relates to the technical field of traffic control, in particular to a heterogeneous vehicle queue control method based on an event triggering mechanism under undirected topology. Background The vehicle queue driving technology realizes information exchange and cooperative control among vehicles through wireless communication, and can effectively reduce air resistance, save fuel, and improve road traffic capacity and driving safety. The traditional vehicle queue control method is mostly based on continuous communication or periodic sampling, and challenges are faced in practical scenes such as limited communication resources, undirected switching topology, heterogeneous vehicle dynamics and the like. Most of the existing researches assume that the communication topology is fixed or continuous communication conditions are met, and the influence of an event triggering mechanism and vehicle heterogeneity is less comprehensively considered. Part of the research introduces event-triggered control, but has obvious limitations that on one hand, the design of a control method often depends on solving a high-dimensional matrix equation or a linear matrix inequality, the computational complexity is too high to be suitable for a large-scale or real-time queue system with high requirements, and on the other hand, many methods are not completely distributed, global topology information (such as characteristic values of a Laplace matrix or specific rules of switching topology) is needed to be utilized, so that the practical application of the method in a dynamic and local communication environment is limited. In addition, for vehicle queue control of a joint connectivity undirected topology, an effective distributed event-triggered protocol design and system stability proving method is lacking due to the difficulty in directly applying the traditional lyapunov method. Therefore, there is a need for a cooperative control method that can adapt to a switching topology, save communication resources, queue heterogeneous vehicles, and ensure system stability. Disclosure of Invention The invention aims to overcome the defects and shortcomings of the prior art, and provides a heterogeneous vehicle queue control method based on an event trigger mechanism under undirected topology, which can effectively cope with the isomerism of a vehicle queue system under the network environment of limited communication resources and undirected topology switching and ensure the stability of the system. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: A heterogeneous vehicle queue control method based on an event trigger mechanism under a non-oriented topology comprises the following steps: constructing a heterogeneous vehicle queue system, and describing cooperative control problems of a heterogeneous vehicle queue consisting of a leader vehicle and a follower vehicle through the heterogeneous vehicle queue system; based on the heterogeneous vehicle queue system, designing a layered control frame comprising an observation layer and a tracking layer, and cooperatively controlling the heterogeneous vehicle queue through the layered control frame; according to undirected switching communication topology among vehicles, introducing an event triggering mechanism into an observation layer of a layered control framework, designing an event triggering observer, and estimating a leader state; in a tracking layer of the hierarchical control framework, a plurality of local tracking controllers are designed based on the observation state of a leader and the self state of a follower, and the state of the leader is tracked; and analyzing the stability of the heterogeneous vehicle queue system, verifying the observation capability of the observer and the tracking capability of the controller, and performing cooperative control on the heterogeneous vehicle queue. Further, constructing a heterogeneous vehicle queuing system, comprising: leader vehicle tag 0, follower vehicle tags 1 to N, and undirected graph for communication between N follower vehicles The representation is made of a combination of a first and a second color,Is a node set; Is an edge set; Representing follower vehicles Vehicle capable of receiving followerInformation of (2); definition enhancement map ,To include a node set of the leader vehicle and all follower vehicles,Representing an edge set comprising communications between a leader vehicle and follower vehicles; And (3) with Characterizing communication topology between vehicles, modeling a switching topology as,Is thatSwitching topology signals at time. Further, constructing a heterogeneous vehicle queuing system, comprising: the dynamics model of the follower vehicle is constructed as follows: ; In the formula, Representation ofTime follower vehicleIs used