摘要详情

ID / 提交时间

105 / 2025-05-15 11:00:07

标题

Research on Remote Control Link of Target Vehicle Considering MQTT Communication Delay Interference

关键字

jamming target vehicle,MQTT,communications delay,lateral and longitudinal control

主题及专题

Special Sessions > SSL 13 Advancements in Intelligent Fault Prediction, Diagnosis, and Sustainable Maintenance of Vehicle Critical Systems

状态

全文待审

作者

Zhenji Meng / Shenzhen Technology University

Heyan Li / Shenzhen Technology University

Haoyun Yuan / Shenzhen Technology University

摘要

In order to improve the safety, repeatability, and standardization of the execution of assisted driving vehicle test scenarios, this paper proposes the use of remote driving cooperative control for interference target vehicles to effectively reproduce standard interference test dynamic scenarios and examine the performance of assisted driving vehicles. The jamming target vehicle achieves low-latency remote transmission of inertial guidance information, vehicle information, and control instructions with the help of a local area network (LAN), a Message Queuing Telemetry Transport (MQTT) server, and Controller Area Network (CAN) protocol conversion equipment. The terminal computing center deploys cloud servers to receive vehicle feedback information for lateral and longitudinal control models, planning vehicle trajectories, desired speeds and accelerations, etc. The lower controller, composed of lateral LQR and longitudinal dual PID, sends control commands and remotely transmits them to the jamming target vehicle, realizing closed-loop data. By designing simulation condition experiments to study the communication link delay throughout the entire process and the control effect of the control algorithm under this delay, the results show that the vehicle has a good trajectory tracking control effect in both straight-line acceleration and deceleration conditions and lane change conditions. Its speed tracking effect, longitudinal error, lateral error, and heading angle error achieve ideal results.