The invention discloses a network-connected vehicle safety cooperative adaptive predictive cruise control method and system, and the method comprises the steps: building a discrete state space model of network-connected vehicle safety cooperative adaptive predictive cruise control based on an established kinematical equation of a network-connected vehicle; constructing a packet loss model under the network attack, and determining a target of network-connected vehicle safety cooperative adaptive prediction cruise control based on the acceleration after packet loss, the inter-vehicle relative distance and the inter-vehicle relative speed so as to obtain a comprehensive tracking signal; augmenting the discrete state space model according to the error between the ideal tracking signal and the actual tracking signal; based on the augmented discrete state space model, constructing a cost function predicted later at the current moment, and through the cost function and constraint conditions thereof, establishing an optimization model of network-connected vehicle safety collaborative adaptive prediction cruise; and through the optimization model under the constraint condition, calculating control input so as to drive the vehicles to perform cooperative operation between the vehicles.
本发明公开了一种网联车辆安全协同自适应预测巡航控制方法及系统,基于建立的网联车辆的运动学方程,构建网联车辆安全协同自适应预测巡航控制的离散状态空间模型;构建网络攻击下的丢包模型,并基于丢包后的加速度、车间相对距离和车间相对速度,确定网联车辆安全协同自适应预测巡航控制的目标,以得到综合跟踪信号;根据理想跟踪信号与实际跟踪信号的误差,对离散状态空间模型进行增广;基于增广的离散状态空间模型,构建当前时刻往后预测的代价函数,并通过代价函数及其约束条件,建立网联车辆安全协同自适应预测巡航的优化模型;通过约束条件下的优化模型,计算控制输入,以驱动车辆进行车辆间协同运行。
Networked vehicle safety cooperative adaptive predictive cruise control method and network connected vehicle safety cooperative adaptive predictive cruise control system
一种网联车辆安全协同自适应预测巡航控制方法及系统
2023-11-10
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 |
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