The invention relates to a hybrid vehicle group cooperative control method based on a cloud edge cooperative architecture, and belongs to the technical field of intelligent traffic. The method comprises the following steps: S1, setting an urban road single-lane heterogeneous traffic scene under a cloud edge collaborative architecture; s2, on the cloud server, based on the heterogeneous vehicle kinematics characteristics, establishing a longitudinal kinematics model for driving of the networked automatic vehicle and a longitudinal kinematics model for driving of the networked person; s3, the vehicle state information data and the vehicle longitudinal kinematics model uploaded to the cloud server are obtained and analyzed, and a networked person driving cooperative driving model and a networked automatic vehicle control algorithm considering mutual influence between the vehicles are constructed on the cloud server in combination with a vehicle information topological structure; s4, establishing a state-space equation of heterogeneous vehicles, integrating the networked automatic vehicle control algorithm and the networked person driving cooperative driving model, and constructing a hybrid vehicle group kinematics state equation; and S5, establishing a hybrid vehicle group cooperative control method. The method effectively ensures that the hybrid vehicle group rapidly realizes consistent and stable driving.
本发明涉及一种基于云边协同架构的混合车群协同控制方法,属于智能交通技术领域。该方法包括:S1.设置云边协同架构下城市道路单车道异质交通场景;S2.在云端服务器基于异质车辆运动学特性分别建立网联自动车和网联人驾车纵向运动学模型;S3.获取、分析上传至云端服务器的车辆状态信息数据和车辆纵向运动学模型,在云端服务器上结合车辆信息拓扑结构分别构建考虑车辆间的相互影响的网联人驾车协同行驶模型和网联自动车控制算法;S4.建立异质车辆的状态空间方程,并将网联自动车控制算法和网联人驾车协同行驶模型进行整合,构建混合车群运动学状态方程;S5.建立混合车群协同控制方法。本发明有效保证混合车群快速实现一致稳定行驶。
Hybrid vehicle group cooperative control method based on cloud edge cooperative architecture
一种基于云边协同架构的混合车群协同控制方法
11.02.2025
Patent
Elektronische Ressource
Chinesisch
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