The invention discloses a strictly-collision-avoiding vehicle queue following control method and system. The control method comprises the steps of 1, obtaining first driving information of a front vehicle in a vehicle queue, second driving information of a vehicle and a vehicle distance measurement value between the vehicle and the front vehicle; 2, according to saturation characteristic signal parameters of a vehicle actuator and a vehicle uncertainty kinetic model, constructing a kinetic calculation model of a vehicle controller; and 3, according to the first driving information, the seconddriving information and the vehicle distance measurement value, calculating a control force output value of the vehicle controller of the vehicle by using a dynamics calculation model, wherein the control force output value is used for controlling the vehicle to drive along with the front vehicle. According to the technical scheme, the complex uncertainty of the vehicle and the saturation characteristic of the actuator are combined, the nonlinear vehicle dynamic model is constructed, the following control of the vehicle queue is optimized, and the collision avoidance performance of the vehiclequeue is improved.

    本申请公开了一种严格避撞的车辆队列跟驰控制方法和控制系统,该控制方法包括:步骤1,获取车辆队列中前方车辆的第一行驶信息、自身车辆的第二行驶信息以及自身车辆与前方车辆之间的车间距测量值;步骤2,根据车辆执行器的饱和特性信号参数和车辆不确定动力学模型,构建车辆控制器的动力学计算模型;步骤3,根据第一行驶信息、第二行驶信息和车间距测量值,利用动力学计算模型,计算自身车辆的车辆控制器的控制力输出值,其中,控制力输出值用于控制自身车辆跟随前方车辆行驶。通过本申请中的技术方案,结合车辆的复杂不确定性以及执行器的饱和特性,构建非线性车辆动力学模型,优化车辆队列的跟驰控制,提高车辆队列的避碰性能。


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    Titel :

    Strictly-collision-avoiding vehicle queue following control method and system


    Weitere Titelangaben:

    一种严格避撞的车辆队列跟驰控制方法和控制系统


    Beteiligte:
    HUANG JIN (Autor:in) / YANG ZEYU (Autor:in) / HU ZHANYI (Autor:in) / MENG TIANCHUANG (Autor:in) / YANG DIANGE (Autor:in) / ZHONG ZHIHUA (Autor:in)

    Erscheinungsdatum :

    2020-10-09


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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