The invention discloses a mixed traffic flow automobile cooperative adaptive cruise control method based on automobile-automobile communication, and relates to the field of intelligent network connection automobile adaptive cruise. The method comprises the following steps: acquiring a BSM information set of a first vehicle (a manual driving vehicle), a front vehicle (an automatic driving vehicle) and a local vehicle (the automatic driving vehicle) in a vehicle following process in real time, and establishing a following motion model of two adjacent vehicles based on the BSM information set; establishing a front vehicle driving operation utility function under a first vehicle disturbance condition by utilizing a linear optimal quadratic theory, and predicting a front vehicle acceleration value at the next moment; and substituting the acceleration value of the vehicle before the next moment into the following motion model to obtain a predicted value of the acceleration of the vehicle, comparing the predicted value with an expected value to obtain an optimal control sequence of the vehicle, and performing adaptive cruise rolling control on the vehicle formation according to the optimal control sequence of the vehicle. According to the method, the controlled vehicle can respond to the change condition of the front vehicle more quickly, and the following performance and safety of the vehicle self-adaptive cruise control system are improved.

    本发明公开了一种基于车车通信的混合车流汽车协同自适应巡航控制方法,涉及智能网联汽车自适应巡航领域。步骤如下:实时采集车辆跟驰过程中首车(人工驾驶汽车)、前车(自动驾驶汽车)与本车(自动驾驶汽车)的BSM信息集,并基于BSM信息集建立相邻两车的跟驰运动模型;利用线性最优二次理论建立首车扰动工况下前车驾驶操纵效用函数,预测下一时刻前车加速度值;将下一时刻前车加速度值代入跟驰运动模型中,得到本车加速度的预测值,将预测值与期望值进行比较得到本车最优控制序列,根据本车最优控制序列对车辆编队自适应巡航滚动控制。本发明使被控车辆能更快响应前方车辆变化情况,提升了车辆自适应巡航控制系统的跟驰性和安全性。


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    Titel :

    Hybrid traffic flow automobile cooperative self-adaptive cruise control method based on automobile-to-automobile communication


    Weitere Titelangaben:

    基于车车通信的混合车流汽车协同自适应巡航控制方法


    Beteiligte:
    PENG LIQUN (Autor:in) / WANG YITING (Autor:in) / ZHOU TUQIANG (Autor:in) / HUANG JU (Autor:in)

    Erscheinungsdatum :

    2022-04-26


    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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