通讯网络影响下多车协同驾驶控制策略研究

Control Strategy of Multi-Vehicle Cooperative Driving on the Influence of the Communication Network

摘要: 随着通讯技术的快速发展，车辆逐渐从自动驾驶的单车智能逐步过渡到多车协同智能控制，由此提升了车辆的运行安全和效率。在多车协同控制方面，现有研究多以理想通讯为主，未考虑实际环境中车车间的通讯干扰问题。本研究考虑通信网络影响，提出了一种基于干扰观测器的PID控制多车协同控制方法，其中，干扰观测器提供估计的干扰信号信息，然后将该信息纳入到PID控制器中，以分析车队运行的稳定性。接着，建立车队行驶场景，采用Matlab/Simulink仿真，仿真结果表明：受干扰车辆速度最大误差从3.56 m/s降低至0.27 m/s，这表明在车车通讯受干扰的情况下，本文提出的方法仍能提高车队运行的智能控制水平。

Abstract: With the rapid development of communication technology, vehicles are gradually transitioning from single-vehicle intelligence in autonomous driving to collaborative multi-vehicle intelligent control, thereby enhancing operational safety and efficiency. In the realm of multi-vehicle colla-borative control, existing research primarily focuses on ideal communication scenarios, over-looking the issue of communication interference between vehicles in real-world environments. This study takes into account the influence of communication networks and proposes a PID con-trol-based multi-vehicle collaborative control method using an interference observer. The inter-ference observer provides estimated interference signal information, which is then incorporated into the PID controller to analyze fleet operation stability. Subsequently, a scenario of fleet driving is established, and Matlab/Simulink simulations are conducted. The simulation results demonstrate that the maximum speed error of the affected vehicles is reduced from 3.56 m/s to 0.27 m/s. This indicates that even in the presence of communication interference between vehicles, the proposed method in this paper can still enhance the level of intelligent control in fleet operation.