The invention discloses a vehicle queue control method considering economy. The vehicle queue control method comprises the following steps that 1, vehicles are longitudinally arranged and run; 2, eachfollowing vehicle i sends self-vehicle hypothesis track information in a future prediction time domain to the neighbor vehicle and receives hypothesis track information of the previous ri neighbor vehicles; 3, an optimization problem is constructed and solved for each following vehicle i by taking a stable tracking target track as a constraint condition and taking economy as a cost function to obtain a control sequence with optimal economy in the prediction time domain; 4, each following vehicle i applies a first element of the control sequence to self-vehicle control; and 5, the steps 2-4 are repeated till that the queue driving is finished. According to the vehicle queue control method considering the economy, through the arrangement of the steps 1 to 5, a control signal can be solved by taking the optimal economy as a target on the premise of ensuring tracking stability, and the loss of the tracking performance is reduced while the economy is improved.
本发明公开了一种考虑经济性的车辆队列控制方法,包括如下步骤:步骤1,车辆纵向排列行驶;步骤2,每个跟随车辆i向邻居车辆发送未来一段预测时域内自车假设轨迹信息并接收前ri辆邻居车辆的假设轨迹信息;步骤3,每个跟随车辆i以稳定跟踪目标轨迹为约束条件,以经济性为代价函数,构建并求解一个优化问题,得到一段预测时域内经济性最优的控制序列;步骤4,每个跟随车辆i将控制序列第一个元素应用于自车控制;步骤5,重复步骤2~4直至结束队列行驶。本发明的考虑经济性的车辆队列控制方法,通过步骤1至步骤5的设置,可在保证跟踪稳定的前提下以经济性最优为目标求解控制信号,有助于在提高经济性的同时减少跟踪性能的损失。
Vehicle queue control method and system considering economy
一种考虑经济性的车辆队列控制方法及系统
2020-10-30
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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