The invention discloses a hybrid vehicle queue distributed model prediction and control method. The method comprises the following steps of firstly, dividing a hybrid vehicle queue into a plurality of mutually associated local hybrid vehicle queues; then establishing a model of each local hybrid queue based on a car-following model of networked automatic driving vehicles and human-drive vehicles; secondly, based on the local hybrid queue model, according to a model prediction control algorithm, establishing an overall control problem of the hybrid vehicle queue; and finally, in combination with an alternating direction multiplier method, constructing a distributed model prediction controller for each local hybrid queue to realize the overall formation control of the hybrid vehicle queue. The effectiveness of the method provided by the invention is verified by performing an experiment on an MATLAB simulation platform. Experimental results show that the method can ensure that the networked automatic driving vehicles and the human-driven vehicles in the hybrid vehicle queue achieve a good formation effect, and the networked automatic driving vehicles can be driven in a formation manner at a smaller inter-vehicle distance, so that the traffic capacity is effectively improved.
本发明公开了一种混合车辆队列分布式模型预测控制方法,首先将混合车辆队列划分为多个相互关联的局部混合车辆队列;然后基于网联自动驾驶车辆和人类驾驶车辆的跟驰模型,建立各个局部混合队列的模型;其次,基于局部混合队列模型,根据模型预测控制算法,建立混合车辆队列整体的控制问题;最后,结合交替方向乘子法,为各个局部混合队列构建分布式模型预测控制器,实现混合车辆队列整体的编队控制。通过在MATLAB仿真平台上进行实验,验证了所提方法的有效性。实验结果表明,本发明可以保证混合车辆队列中网联自动驾驶车辆和人类驾驶车辆达到良好的编队效果,同时网联自动驾驶车辆能以较小的车间距离编队行驶,有效提高了交通容量。
Hybrid vehicle queue distributed model prediction and control method
一种混合车辆队列分布式模型预测控制方法
2021-12-14
Patent
Electronic Resource
Chinese
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