The invention relates to a multi-vehicle formation speed planning method and system, and relates to the field of vehicle formation speed planning, and the method comprises the steps: constructing a displacement equation of a vehicle formation; the displacement equation is an equation representing the real-time position of the head car in the car formation; determining a target function of the automobile formation based on the energy consumption, the passing efficiency and the passenger comfort; the passenger comfort is determined according to the jerk of the vehicle; and solving the displacement equation by minimizing the target function and taking the time sequence of the traffic lights, the vehicle speed limit in the traffic rules and the limit of the vehicle performance on the acceleration as constraints. According to the invention, the energy consumption is reduced, the comfort of passengers is improved, and the passing efficiency is improved.
本发明涉及一种多车编队速度规划方法及系统,涉及车队速度规划领域,该方法包括:构建汽车编队的位移方程;所述位移方程为表示所述汽车编队中头车的实时位置的方程;基于能源消耗、通行效率和乘客舒适度确定所述汽车编队的目标函数;所述乘客舒适度根据车辆的加加速度确定;以最小化目标函数,以交通信号灯时序、交通规则中的车速限制和车辆性能对加速度的限制为约束求解所述位移方程。本发明降低了能耗、改善了乘客舒适度同时提升了通行效率。
Multi-vehicle formation speed planning method and system
一种多车编队速度规划方法及系统
2023-01-03
Patent
Elektronische Ressource
Chinesisch
Vehicle speed planning method and system for automatic parking system
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