Cooperative Control Technology of Networked Autonomous Driving Vehicle Based on Delay Compensation

doi:10.16182/j.issn1004731x.joss.17-0240

Abstract

Abstract: In view of the disordered and lost packets problems in intelligent transportation system, this paper studies the cooperative control technology of autonomous driving vehicle and proposes an autonomous platoon-driving model based on Zero Order Hold (ZOH) information processing mechanism. A dedicated nonlinear state estimation algorithm is used to compensate for the delay so the platoon-driving model remains valid under the complex vehicle driving environments. A real autonomous driving platoon is tested in a vehicle proving ground for cooperative driving. The analysis of the experimental data and simulation results based on the real networked autonomous driving system verified the stability, validity and practicability of the platoon-driving model.

Key words: autonomous driving platoon, cooperative control technology, Zero Order Hold (ZOH), communication delay error compensation

CLC Number:

Zhu Zhengze, Zhou Haiying, Fu Yongzhi, Zhou Kui, Wang Sishan, Gong jiayuan, Deng Sihao, Hou Kunming. Cooperative Control Technology of Networked Autonomous Driving Vehicle Based on Delay Compensation[J]. Journal of System Simulation, 2019, 31(7): 1448-1459.

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