The invention discloses a multi-target adaptive cruise control method. The method comprises the following steps of: establishing a quadratic performance functional according to control input, controlinput increment and a regularization term under a process state constraint condition, a system I/O constraint condition and a motorcade constraint condition; acquiring the state parameters of a localvehicle and a vehicle in front of the local vehicle in real time; obtaining the expected acceleration increment of the local vehicle through the rolling online optimization prediction of the quadraticperformance functional according to the state parameters, obtaining an expected acceleration according to the expected acceleration increment; and controlling the local vehicle according to the expected acceleration increment to make the actual acceleration of the local vehicle converge at the expected acceleration. According to the method, control targets such as driver expected response, following safety and motorcade stability are comprehensively coordinated; an incremental control strategy is adopted, so that the working condition adaptive capacity of a motorcade can be effectively improved, and the overall quality of the motorcade is guaranteed. The invention further discloses a multi-target self-adaptive cruise control device, equipment and a computer readable storage medium which all have the same advantages as the control method.

    本发明公开了一种多目标自适应巡航控制方法,包括:在过程状态约束条件、系统I/O约束条件以及车队约束条件下,根据控制输入、控制输入增量以及正则化项建立二次型性能泛函;实时获取自车与前车的状态参数;根据状态参数,通过二次型性能泛函滚动在线优化预测得到自车的期望加速度增量,并根据期望加速度增量得到期望加速度;根据期望加速度增量控制自车,使自车的实际加速度收敛于期望加速度。该方法综合协调驾驶员期望响应、跟驰安全性、车队稳定性等控制目标,采用增量式控制策略,可有效提高车队的工况适应能力,保障车队整体品质。本发明还公开了一种多目标自适应巡航控制装置、设备以及计算机可读存储介质,均具有上述技术效果。


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    Title :

    Multi-target adaptive cruise control method, device and equipment


    Additional title:

    一种多目标自适应巡航控制方法、装置及设备


    Contributors:
    ZHANG JUNHUI (author) / WANG FUYAN (author) / LI QING (author) / CHEN DAPENG (author) / ZHANG CHANGQING (author) / LIANG YANJU (author)

    Publication date :

    2020-05-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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