The invention discloses a strict and safe lane changing enqueue control method for an intelligent networked automobile. The method specifically comprises the steps that 1, when a ramp vehicle appliesfor lane changing and enqueueing, a pilot vehicle of the existing fleet of the main lane receives the application and acquires the current driving state information of the lane changing and enqueueingvehicle, wherein the information comprises the current position, speed and acceleration of the vehicle; 2; the pilot vehicle determines an afflux position of the enqueueing application vehicle; 3; bilateral constraints are established for the vehicle distance error, and state transformation is conducted on the vehicle distance error; 4; a nonlinear longitudinal kinetic model is established, parameter perturbation in an actual scene is considered, and a robust control law is designed under the condition; and 5, after the vehicle applying for lane changing and enqueueing finish lane changing, the whole process is ended, and each vehicle is switched to self-adaptive cruise control, so that the distances between the enqueue vehicle and the vehicles in front of and behind the insertion position of the enqueue vehicle can be always kept in a reasonable range in the lane changing process, and strict safety of lane changing confluence is realized.

    本发明公开了一种智能网联汽车严格安全换道入队控制方法,具体包括以下步骤:步骤1;当有匝道车辆申请换道入队时,主车道现有车队的领航车接收该申请,并获取换道入队车辆当前行驶状态信息,信息包括该车当前位置、速度、加速度;步骤2;领航车判定申请入队车辆的汇入位置;步骤3;对车间距误差建立双边约束,并对车间距误差做状态变换;步骤4;建立非线性纵向动力学模型,并考虑实际场景下的参数摄动,在此条件下设计鲁棒控制律;步骤5、当申请换道入队的车辆完成换道后全过程结束,各车辆切换至自适应巡航控制,该方法能确保换道过程中入队车辆与其插入位置前后车车间距始终保持在合理范围内,从而实现换道合流的严格安全。


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    Title :

    Strict and safe lane changing enqueue control method for intelligent networked automobile


    Additional title:

    一种智能网联汽车严格安全换道入队控制方法


    Contributors:
    HUANG JIN (author) / HU ZHANYI (author) / MENG TIANCHUANG (author) / YANG ZEYU (author) / YANG DIANGE (author) / ZHONG ZHIHUA (author)

    Publication date :

    2020-10-09


    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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