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

Authors

Zhengze Zhu, 1. Hubei University of Automotive Technology, Research Center of Active Safety and Intelligent Driving, Shiyan 442000, China; ;
Haiying Zhou, 1. Hubei University of Automotive Technology, Research Center of Active Safety and Intelligent Driving, Shiyan 442000, China; ;
Yongzhi Fu, 1. Hubei University of Automotive Technology, Research Center of Active Safety and Intelligent Driving, Shiyan 442000, China; ;
Zhou Kui, 1. Hubei University of Automotive Technology, Research Center of Active Safety and Intelligent Driving, Shiyan 442000, China; ;
Sishan Wang, 1. Hubei University of Automotive Technology, Research Center of Active Safety and Intelligent Driving, Shiyan 442000, China; ;
jiayuan Gong, 1. Hubei University of Automotive Technology, Research Center of Active Safety and Intelligent Driving, Shiyan 442000, China; ;
Sihao Deng, 2. ICB Laboratory, UMR 6303 CNRS, Univ. Bourgogne Franche-Comté, UTBM, F-90010 Belfort, France;; ;
Kunming Hou, 3. LIMOS Laboratory, UMR 6158 CNRS, University of Clermont Auvergne, 63170, Clermont-Ferrand, France;

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.

Recommended Citation

Zhu, Zhengze; Zhou, Haiying; Fu, Yongzhi; Kui, Zhou; Wang, Sishan; Gong, jiayuan; Deng, Sihao; and Hou, Kunming (2019) "Cooperative Control Technology of Networked Autonomous Driving Vehicle Based on Delay Compensation," Journal of System Simulation: Vol. 31: Iss. 7, Article 23.
DOI: 10.16182/j.issn1004731x.joss.17-0240
Available at: https://dc-china-simulation.researchcommons.org/journal/vol31/iss7/23

First Page

1448

Revised Date

2017-07-09

DOI Link

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

Last Page

1459

CLC

TP393;TB114.2

Recommended Citation

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.

Corresponding Author

Haiying Zhou,

DOI

10.16182/j.issn1004731x.joss.17-0240