The invention discloses an electric vehicle team formation control and speed optimization method. According to the method, firstly, a kinematic model of a vehicle is established according to parameters of the vehicle; secondly, designing a cruise controller and a following controller by using a kinematic model; then, when the motorcade runs on roads with different gradients, the cruise controller obtains the optimal cruise speed of the motorcade by optimizing the motorcade in real time and changes the cruise speed of the leading vehicle, and the following vehicle obtains information of the front vehicle and the leading vehicle through vehicle-to-vehicle communication. Finally, the expected acceleration is obtained by the following controller according to the information of the front vehicle and the leading vehicle, the real acceleration is obtained by matching with the first-order acceleration filter, and then vehicle following is controlled and the stable driving target of the motorcade is achieved. The method is closer to the real situation, can well cope with the dynamic change of the road gradient and the motorcade scale, and has a better optimization effect.
本发明公开了一种电动车队编队控制及其速度优化方法,该方法首先由车辆自身的参数建立车辆的运动学模型。其次利用运动学模型,设计巡航控制器和跟随控制器。然后当车队行驶在不同坡度的道路上时,巡航控制器通过实时优化车队得出车队的最佳巡航速度,并改变领头车的巡航速度,跟随车通过车联车通信,获得前车以及领头车的信息。最后利用前车以及领头车的信息,跟随控制器得出期望加速度,配合一阶加速度滤波器得出真实加速度,进而控制车辆跟车并实现车队稳定行驶目标。本发明更接近真实情况,能够很好地应对道路坡度以及车队规模的动态变化,有着更好的优化效果。
Electric vehicle team formation control and speed optimization method thereof
一种电动车队编队控制及其速度优化方法
2023-12-12
Patent
Elektronische Ressource
Chinesisch
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