Journal of Jilin University(Engineering and Technology Edition) ›› 2020, Vol. 50 ›› Issue (2): 711-718.doi: 10.13229/j.cnki.jdxbgxb20181143

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Method of vehicle formation control based on vehicle to vehicle communication

Yan MA1,2(),Jian-fei HUANG1,Hai-yan ZHAO1,2()   

  1. 1.College of Communication Engineering，Jilin University，Changchun 130022，China
    2.Key Laboratory of Automotive Simulation and Control，Jilin University，Changchun 130022，China
  • Received:2018-11-16 Online:2020-03-01 Published:2020-03-08
  • Contact: Hai-yan ZHAO E-mail:mayan_maria@163.com;zhao_hy@jlu.edu.cn

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Abstract:

Traditional leader-follower formation controller can hardly obtain the data of the leader vehicle accurately and its parameters may be uncertain due to the influence of external interference. To solving this problem, this paper designed an adaptive feedback linear controller based on variable estimation and proposed an improved method based on Vehicle to Vehicle communication (V2V). Firstly, the accuracy of relative distance is improved by variable estimation. Then, the information accuracy of leader vehicle is guaranteed by using V2V technology. In order to verify the effectiveness of the algorithm, a co-simulation experiment is made using VS2010 and Simulink. The results show that the formation method based on V2V and adaptive control principle can effectively complete the formation task with small errors and convergence. This method provides certain application value for the development of intelligent connected vehicles.

Key words: control theory and control engineering, leader-follower, formation control, vehicle to vehicle communication, adaptive control

CLC Number: 

  • TP273

Fig.1

Bicycle model"

Fig.2

Leader-follower model"

Fig.3

Control block diagram of adaptive controller"

Fig.4

V2V system interface"

Fig.5

Simulation results without interference"

Table 1

Comparison of experimental results"

误差类型线性反馈控制自适应控制V2V控制
调整时间/s稳态值/m（rad）调整时间/s稳态值/m（rad）调整时间/s稳态值/m（rad）
纵向位置11.80.0011.60.0011.00.23
横向位置19.00.0118.20.0118.00.01
航向角13.80.0013.20.0013.20.00

Fig.6

Simulation results comparison with interference"

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