The invention provides a layered rolling optimization control method to solve the confluence control problem of intelligent network connection vehicles on an expressway entrance ramp under a mixed traffic condition. Firstly, a nonlinear vehicle longitudinal dynamics model is established, and a multi-vehicle cooperative confluence problem including vehicle power constraint and inter-vehicle safety distance constraint is constructed. A hierarchical cooperative confluence control architecture with efficient and energy-saving traffic as a target is provided, an upper layer solves an unconstrained optimal control problem based on a minimum principle to plan a flexible confluence point, and a lower layer designs and controls a Lyapunov function and a control barrier function by using the flexible confluence point provided by the upper layer. And reconstructing a target and a constraint expression form of an optimization problem, converting a multi-security constraint optimal control problem into a quadratic programming problem, and obtaining an optimal control law to realize security confluence. According to the entrance ramp confluence control method provided by the invention, various strict safety constraints can be met, and meanwhile, the vehicle driving performance and the traffic overall performance in a mixed traffic environment are optimized.

    本发明提出一种分层式滚动优化控制方法来解决混合交通条件下高速公路入口匝道智能网联车辆的合流控制问题。首先建立了非线性车辆纵向动力学模型,构建包含车辆动力约束和车间安全距离约束的多车协同合流问题。提出以高效、节能通行为目标的分层式协同合流控制架构,其中上层基于极小值原理求解无约束最优控制问题以规划灵活合流点,下层利用上层提供的灵活合流点,设计控制李雅普诺夫函数和控制势垒函数,重构优化问题的目标和约束表达形式,将多安全约束最优控制问题转化为二次规划问题,获取最优控制律,以实现安全合流。本发明提出的入口匝道合流控制方法可在满足多种严格安全约束的同时,优化混合交通环境下车辆驾驶性能和交通整体表现。


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    Title :

    Layered optimization control method and device for cooperative confluence of multiple intelligent networked vehicle ramps


    Additional title:

    多智能网联车辆匝道协同合流分层优化控制方法及装置


    Contributors:
    ZHUANG WEICHAO (author) / TANG MENGCHENG (author) / YIN GUODONG (author) / WANG JINXIANG (author) / GENG KEKE (author) / GAO QIANG (author) / LI BINGBING (author) / LIU HAOJI (author)

    Publication date :

    2023-10-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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