基于TMS320的无人智能车编队协同控制系统

The cooperative control system of unmanned intelligent vehicle formation based on TMS320

针对目前无人车系统智能化程度较低、协同控制策略不够完善造成柔性编队稳定性较差、鲁棒性较低、稳态间距与速度跟踪误差较大等问题,本文设计了一种基于TMS320的无人智能车编队协同控制系统。系统通过硬件模块完成VANET背景下的车队自主环境感知,信息处理,决策规划与协同控制,同时车辆与车队的关键信息通过4G远程监控网实时传输至上位机管理界面,实现无人车队的智能化编队协同控制,进而从一定程度上提高无人车系统的实效性。

In order to solve the problems of low intelligent degree of unmanned vehicle system and imperfect cooperative control strategy,such as poor stability of flexible formation,low robustness and large error of steady distance and velocity tracking,this paper designed a cooperative control system of unmanned intelligent vehicle formation based on TMS320.System through hardware modules completed under the background of VANET independent environmental awareness,information processing,decision-making and planning and coordinated control,vehicle and at the same time the team’s key information through4 G remote monitoring network real-time transmission first place machine management interface,realize the coordinated control of unmanned fleet of intelligent formation,from a certain extent,improve the effectiveness of unmanned vehicle system.