The invention discloses a queue control method for a curved road scene, and the method comprises the following steps: S1, enabling vehicles to run in a longitudinal queue, and numbering the vehicles, S2, enabling all the vehicles to send the information of the vehicles to other vehicles, enabling following vehicles to adjust the states of the vehicles according to the received information, S3, building a vehicle dynamics model for the vehicles in the queue, and S4, enabling each following vehicle to move in the queue according to the vehicle dynamics model. The method comprises the following steps: S1, designing and solving a cost function by taking a reference road track as a control target and taking the minimum safety distance with a front vehicle as a constraint condition to obtain an optimal control sequence in a section of prediction time domain, S5, acting a first element of the control sequence on an own vehicle system for control, and S6, repeating S4 and S5 until queue driving is finished. The method can effectively supplement the lack of a vehicle queue control method in a curved road scene at present, and achieves a better vehicle queue tracking effect.
本发明公开了一种针对弯曲道路场景下的队列控制方法,包括以下步骤,S1车辆纵向排队行驶并编号,S2所有车辆将自车信息发送给其他车辆,跟随车根据接收到的信息调整自身状态,S3为队列内的车辆建立车辆动力学模型,S4每个跟随车辆,以参考道路轨迹为控制目标,以与前车的最小安全距离为约束条件,设计代价函数并求解,得到一段预测时域内的最优的控制序列,S5将控制序列的第一个元素作用于自车系统进行控制,S6重复S4和S5,直至结束队列行驶。本发明可有效补充目前缺少的关于弯曲道路场景下的车辆队列控制方法,并实现较好的车辆队列跟踪效果。
Queue control method for curved road scene
一种针对弯曲道路场景下的队列控制方法
2022-05-13
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 / G08C Übertragungssysteme für Messwerte, Regel-, Steuer- oder ähnliche Signale , TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS |
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