The invention discloses a vehicle energy-saving driving method based on layered vehicle speed planning. The method comprises the steps: obtaining road information and traffic information of an expected driving road segment, carrying out long-term vehicle speed planning, and obtaining a long-term vehicle speed track considering the driving energy consumption and driving efficiency; with a long-term vehicle speed track as a guide layer, carrying out multi-objective optimization tasks of comprehensive following safety, traffic signal lamp rules, guide layer vehicle speed and driving distance, driving comfort and driving energy consumption by combining real-time acquired vehicle surrounding road condition information in a limited rolling time domain, and calculating a short-term optimal driving lane and an optimal vehicle speed track. And if the long-term vehicle speed planning result does not have the guiding effect due to actual road condition limitation or driving task change, the re-planning function can re-plan the long-term vehicle speed and update the guide layer of the short-term vehicle speed planning. Long-term vehicle speed planning and short-term vehicle speed planning arecombined, the method can adapt to various traffic conditions, energy-saving driving is achieved in the actual traffic environment, and driving safety is guaranteed.
本发明公开了一种基于分层式车速规划的车辆节能驾驶方法,获取预期行驶路段的道路信息和交通信息,进行长期车速规划,得到兼顾行驶能耗和行驶效率的长期车速轨迹;以长期车速轨迹为引导层,结合实时获取的车辆周围路况信息,在有限滚动时域内进行综合跟驰安全、交通信号灯规则、引导层车速和行驶距离、驾驶舒适性、行驶能耗的多目标优化任务,计算短期最优行驶车道和最优车速轨迹。若因实际路况限制或行驶任务变更导致长期车速规划结果不再具备引导作用,重规划功能将会重新进行长期车速规划,更新短期车速规划的引导层。将长期车速规划与短期车速规划相结合,能够适应多种交通路况,在实际交通环境中实现节能驾驶,同时保证行车安全。
Vehicle energy-saving driving method based on layered vehicle speed planning
一种基于分层式车速规划的车辆节能驾驶方法
2020-10-20
Patent
Electronic Resource
Chinese
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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