The invention relates to a cooperative adaptive cruise control method with a lane changing auxiliary function. The cooperative adaptive cruise control method mainly comprises the following steps that 1, a pilot vehicle builds a lane changing track function with an obstacle avoidance capacity according to the states of the vehicle before and after lane changing and critical collision conditions; 2, the pilot vehicle calculates the optimal lane changing track of the vehicle under the critical collision condition according to the speeds of the vehicle and the preceding vehicle, the geometric parameters of the vehicle body, the road parameters and the like; and 3, a motorcade tracks the optimal track according to the method provided by the invention. The method mainly has the following three innovation points that (1) an optimal lane changing track calculation method with a collision avoidance function is given by combining a polynomial method and an optimization method; (2) a nonlinear queue model is established for the heterogeneous vehicles of the motorcade, and compared with a previous method, by using the method of the invention, the motorcade is simplified into a linear model and is closer to reality; and (3) the designed method can ensure the stability of transverse and longitudinal queues during lane changing of the motorcade at the same time.

    本发明涉及一种具有换道辅助功能的协同自适应巡航控制方法,其主要包含以下步骤:步骤一:领航车辆根据车辆换道前后状态以及临界碰撞条件建立具有避障能力的换道轨迹函数;步骤二:领航车辆根据自车和前车车速、车身几何参数以及道路参数等在临界碰撞条件下计算车辆最优换道轨迹;步骤三:车队依据本发明给出的方法跟踪该最优轨迹。本发明主要有以下三个创新点:(1)结合多项式法和最优化方法给出一种具有避撞功能的最优换道轨迹计算方法;(2)针对车队非匀质车辆建立非线性队列模型,相比以往方法将车队简化为线性模型更为贴近实际;(3)所设计的方法能够同时保证车队换道时的横纵向队列稳定性。


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    Title :

    Cooperative adaptive cruise control method for lane changing scene


    Additional title:

    一种用于换道场景的协同自适应巡航控制方法


    Contributors:
    TIAN YANTAO (author) / NIE GUANGMING (author) / XIE BO (author) / HONG WEI (author) / CAO XUANHAO (author) / LU HUIQIU (author)

    Publication date :

    2021-04-16


    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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