The invention discloses a hybrid traffic transverse and longitudinal coupling control method based on vehicle-road cooperation. The method comprises steps of S1, obtaining historical track points of asecond vehicle at the initial momentS2, acquiring a driving state of the second vehicle in real time and transmitting the driving state to a first vehicle; S3, judging whether a current driving stateof the first vehicle reaches a certain fault-tolerant error range of the first historical track point of the second vehicle or not, if so, carrying out S4, if not, carrying out S5; S4, updating a historical motion state matrix of the second vehicle and transmitting the historical motion state matrix to the first vehicle, and entering S5; S5, calculating an expected acceleration and an expected angular velocity of the first vehicle; S6, the first vehicle running at the expected acceleration and the expected angular speed, and the step S2 is executed again. The method is advantaged in that vehicle following distance consistency and speed consistency of the networked intelligent vehicle and the front manual driving vehicle are ensured, and cooperative motion control between vehicles with different intelligent levels is realized.

    本发明公开了一种基于车路协同的混合交通横纵耦合控制方法,S1:获取第二车辆的初始时刻历史轨迹点;S2:实时采集第二车辆的行驶状态并传送给第一车辆;S3:判断第一车辆的当前行驶状态是否到达第二车辆的首个历史轨迹点的一定容错误差范围内,若是,则进行S4,若否,则进行S5;S4:更新第二车辆的历史运动状态矩阵并传递给第一车辆,进入S5;S5:计算第一车辆的期望加速度和期望角速度;S6:第一车辆以期望加速度和期望角速度行驶,并返回S2。本发明保证了网联智能汽车与前方人工驾驶车辆的跟车距离一致性和速度一致性,同时实现了不同智能化等级车辆间的协同运动控制。


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    Titel :

    Hybrid traffic transverse and longitudinal coupling control method based on vehicle-road cooperation


    Weitere Titelangaben:

    一种基于车路协同的混合交通横纵耦合控制方法


    Beteiligte:
    SUN DIHUA (Autor:in) / ZHAO HANG (Autor:in) / ZHAO MIN (Autor:in) / HE CHANGCHANG (Autor:in)

    Erscheinungsdatum :

    2020-08-25


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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