The invention discloses a multi-vehicle adaptive cruise control method, device and system, and the method comprises the steps: building the distance constraint, speed constraint and safety constraint conditions of a vehicle based on a control obstacle function, and taking the constraints and the maximum output constraint of a vehicle engine as constraint conditions; according to the multi-vehicle self-adaptive cruise control method, the minimum fuel consumption, the distance between the vehicle and the adjacent front vehicle and the difference value between the vehicle and the preset cruise speed serve as control targets, optimal control is solved by constructing quadratic programming, the optimal control input of the vehicle is obtained, and therefore low fuel consumption is achieved, the multi-vehicle self-adaptive cruise function is not limited by the speed, and the potential collision possibility can be avoided; when the number of vehicles in a motorcade is increased, the overall energy consumption can be reduced based on the method; the vehicle is high in stability and can adapt to rapid changes of the surrounding environment.
本发明公开了一种多车辆自适应巡航控制方法、装置及系统,基于控制障碍函数构建车辆的距离约束、速度约束及安全约束条件,以上述约束及车辆发动机最大输出约束为约束条件,以最小化燃油消耗、与相邻前车的车间距、与预设巡航速度的差值为控制目标,通过构造二次规划求解最优控制,得到车辆的最佳控制输入,从而实现较低的油耗,且多车辆自适应巡航功能不受速度限制,能够避免潜在的冲撞可能;在车队中车辆数量增多时,基于此方法,能够减少整体能量消耗;车辆稳定性较高,能够适应周围环境的快速变化。
Multi-vehicle self-adaptive cruise collision avoidance control method, device and system
一种多车辆自适应巡航避撞控制方法、装置及系统
2023-03-07
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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