The invention provides a hierarchical speed control method for networked automobiles at an intersection. The hierarchical speed control method comprises the following steps: S1, establishing an intersection networked automobile speed regulation and control model; step S2, by using a V2X technology, the networked automobile obtains relative distance information between the networked automobile and a nearby intersection in front and signal lamp time sequence information of the nearest intersection in real time; s3, constructing an upper layer controller; generating an optimal vehicle speed of an upper-layer controller by using a hybrid model predictive control algorithm; and S4, constructing a lower-layer controller, constructing a vehicle following model, tracking the optimal vehicle speed of an upper-layer controller, and generating a global optimal vehicle speed based on a safe vehicle speed constraint. According to the invention, energy conservation and emission reduction are achieved without braking, fuel consumption economy is improved, and emission of carbon and nitrogen oxides is reduced.

    本发明提供了一种交叉口的网联汽车层次化速度控制方法包括如下步骤:包括如下步骤:步骤S1、建立交叉口网联汽车车速调控模型;步骤S2、利用V2X技术,网联汽车实时获取自身与前方就近交叉口的相对距离信息以及最近交叉口的信号灯时序信息;步骤S3、构建上层控制器;利用混合模型预测控制算法生成上层控制器的最优车速;步骤S4、构建下层控制器,构建跟车模型,跟踪上层控制器的最优车速,基于安全车速约束,生成全局最优车速。本发明实现在不刹车的情况下达到节能减排、提高燃油消耗经济性以及减少碳、氮氧化物的排放。


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    Title :

    Intersection networked vehicle hierarchical speed control method


    Additional title:

    一种交叉口的网联车辆层次化速度控制方法


    Contributors:
    ZHANG XIZHENG (author) / FANG SICHEN (author) / CUI ZIJIAN (author) / YANG MINGHAO (author) / SONG ANRAN (author) / ZHANG MING (author)

    Publication date :

    2023-08-29


    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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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