The invention relates to a full-speed-domain vehicle adaptive cruise control method based on multi-target dynamic weighting. Kinematics information of the vehicle and the front vehicle is collected; a method for establishing a longitudinal car following discrete state space model considering acceleration interference of a front car is given, and control targets of safety, car following performance, economical efficiency and comfort are formulated; based on the objective revenue function of each control target, solving the probability distribution of the hybrid strategy through a non-cooperative game and taking the probability distribution as an objective weight coefficient; building a subjective weight model to solve a subjective weight coefficient based on a blind number theory by considering the subjective preference of a driver for a vehicle control target; and establishing a subjective and objective combination weighting model based on the game theory, dynamically endowing the optimal subjective and objective weight to a model prediction controller for real-time solution, and obtaining the optimal expected acceleration under subjective and objective conditions. According to the method, the multi-target weight of the control system is realized, and the safety, the car following performance, the economical efficiency and the comfort are comprehensively improved on the premise of considering multi-target conflicts and driver requirements.
本发明为一种多目标动态赋权的全速域车辆自适应巡航控制方法。采集本车、前车运动学信息;给出建立考虑前车加速度干扰的纵向跟车离散状态空间模型的方法,制定安全性、跟车性、经济性和舒适性控制目标;基于各控制目标的客观收益函数,通过非合作博弈求解混合策略的概率分布并将其作为客观权重系数;考虑驾驶员对于车辆控制目标的主观偏好,基于盲数理论建立主观权重模型求解主观权重系数;基于博弈论建立主客观组合赋权模型,将最优主客观权重动态赋予模型预测控制器实时求解,得到主客观下最优期望加速度。本发明实现了控制系统的多目标权重,在考虑多目标冲突和驾驶员需求的前提下,综合提升安全性、跟车性、经济性和舒适性。
Full-speed-domain vehicle adaptive cruise control method based on multi-target dynamic weighting
一种多目标动态赋权的全速域车辆自适应巡航控制方法
2023-11-03
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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