The invention relates to an intelligent network connection fleet plug-in cooperative lane changing control method, which comprises the following steps that: a central controller acquires controlled vehicle information and reference coordinate origin information in an intelligent network connection fleet, and makes behavior, speed and lane changing decisions for the controlled fleet; a backward following information topological structure is established, and a controlled vehicle takes following of a following vehicle as a target; the central controller receives the decision control command and adopts a corresponding speed decision and a motion control command according to the behavior command; in the lane changing process, a backward following information topological structure is adopted, the acceleration, braking and steering process of each controlled vehicle is optimized and controlled in a time domain, optimized control instructions are generated and sent to a power system, a braking system and a steering system of each controlled vehicle, and collaborative lane changing is completed. Compared with the prior art, the method has the advantages that the intelligent networked motorcade can realize plug-in cooperative lane changing and plugging, so that the lane changing capability of the intelligent networked motorcade in a high-density traffic environment and the maneuverability of the intelligent networked motorcade in a real traffic flow are greatly improved.
本发明涉及一种智能网联车队插入式协同换道控制方法,包括:中央控制器采集智能网联车队内受控车辆信息和参考坐标原点信息,针对受控车队进行行为、速度以及换道决策;建立后向跟随的信息拓扑结构,受控车辆以跟随后车为目标;中央控制器接收决策控制命令,依据行为指令,采取对应的速度决策以及运动控制命令;在换道过程中,采用后向跟随的信息拓扑结构,在时间域中优化控制各受控车辆的加速及制动和转向过程,生成优化的控制指令给各受控车辆的动力系统、制动系统和转向系统,完成协同换道。与现有技术相比,本发明能使智能网联车队实现插入式协同换道加塞,从而大大提高智能网联车队在高密度交通环境下的换道能力以及在现实交通流中的机动性。
Plug-in type cooperative lane changing control method for intelligent network connection motorcade
一种智能网联车队插入式协同换道控制方法
2022-11-11
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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