The invention provides a preset time tracking control method based on a vehicle model, and aims to improve the response rate under the condition of vehicle following, reduce the problem of'ghost vehicle 'under the condition of vehicle following, and improve the traffic efficiency. On the basis that air resistance, ramp resistance and rolling resistance borne by the following vehicle in the vehicle following process are considered, the preset time control theory and vehicle tracking control are combined, and the controller is designed to achieve tracking control over the vehicle within the safe vehicle distance. The controller needs to meet two requirements of tracking stability and position tracking error convergence, that is, in the vehicle tracking control process, it needs to be guaranteed that a stable relation exists between the motion state of a following vehicle and the motion state of a front vehicle; namely, the following vehicle should keep the speed consistent with that of the front vehicle within the preset time so as to ensure safe vehicle distance driving, meanwhile, the position tracking error of the rear vehicle is converged to a field near zero within the preset time, and it is ensured that the rear vehicle accurately follows the front vehicle.
本发明提供了一种基于车辆模型的预设时间跟踪控制方法,旨在提升车辆跟车下的响应速率,减少车辆跟随下的“幽灵车辆”问题,提升交通通行效率。本发明在考虑跟车过程中跟随车受到的空气阻力、坡道阻力、滚动阻力的基础上,将预设时间控制理论与车辆跟踪控制相结合,设计控制器实现安全车距内车辆的跟踪控制。该控制器需要满足跟踪稳定性和位置跟踪误差收敛性两个要求,即在车辆跟踪控制过程中,需要保证跟随车辆的运动状态与前车的运动状态之间存在稳定的关系,也就是跟随车应当在预设时间内保持与前车一致的速度以保证安全车距行驶,同时实现后车的位置跟踪误差在预设时间内收敛到零附近的一个领域内,确保后车准确跟随前车。
Preset time tracking control method based on vehicle model
一种基于车辆模型的预设时间跟踪控制方法
03.01.2025
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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