The invention discloses an urban bus rapid transit energy-saving driving control method based on dynamic planning, relates to the technical field of intelligent traffic, and solves the technical problem that existing speed planning cannot give consideration to economy and punctuality of urban bus rapid transit vehicles. And establishing an optimal control model by taking a security adaptability constraint as a variable constraint and taking economical efficiency and punctuality as optimization targets. And meanwhile, based on a dynamic planning method, dispersing the optimal control model in a spatial domain, performing reverse solution from an end point to a starting point, and performing forward optimization according to a minimum target function to obtain an optimal speed track and cruise time. Extra energy loss caused by frequent starting and stopping in the running process of the vehicle queue is reduced, and punctual arrival is achieved.
本发明公开了一种基于动态规划的城市快速公交节能驾驶控制方法,涉及智能交通技术领域,解决了现有车速规划无法兼顾城市快速公交车辆经济性与准时性的技术问题,其技术方案要点是可采用速度规划方法,并将实现安全适性约束作为变量约束,将经济性与准时性作为优化目标,建立最优控制模型。同时基于动态规划方法,将最优控制模型在空间域上进行离散,从终点到起点进行逆向求解,根据目标函数最小进行正向寻优得到最优速度轨迹和巡航时间。减少车辆队列行驶过程中的频繁启停所产生的额外能量损失,并实现准时到站。
Urban bus rapid transit energy-saving driving control method based on dynamic planning
一种基于动态规划的城市快速公交节能驾驶控制方法
2022-05-27
Patent
Elektronische Ressource
Chinesisch
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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