The invention discloses a non-signal-control multi-intersection hybrid vehicle group networked prediction and cooperative control method and device, and the method comprises the steps: carrying out the network decomposition of a whole multi-intersection system based on a networked distributed cooperative control idea of a multi-agent system, and designing a plurality of intelligent cooperative control systems, i.e., carrying out the edge cloud computing of an intersection subsystem, the method comprises the following steps of: designing a cloud HDVs uncertain driving state data mapping observer, a cloud HDVs state mapping predictive controller, a cloud HDVs uncertain driving state data mapping observer, a cloud HDVs state mapping predictive controller, a cloud HDVs uncertain driving state data mapping observer and a cloud HDVs state mapping predictive controller, and distributing the cloud HDVs uncertain driving state data mapping predictive controller to corresponding non-overlapping intersection subsystems for each intersection subsystem. The invention aims to consider the uncertain driving behavior of a driver and solve the problem that the non-signal-control multi-intersection mixed traffic flow is difficult to coordinate and control under the time-varying time-delay communication condition.
本发明公开了非信控多路口混合车群网络化预测与协同控制方法及装置,本发明基于多智能体系统的网络化分布式协调控制思想,通过对整个多交叉路口系统进行网络分解,设计多个智能协调控制系统,即交叉路口子系统边缘云计算(Edge Cloud,EC)控制器,并将其分配给所对应的非交叠的交叉路口子系统,面向各交叉路口子系统,针对考虑人类驾驶行为的MAPC控制器设计,云端HDVs不确定行驶状态数据映射观测器设计和云端HDVs状态映射预测控制器设计。本发明的目的在于考虑驾驶员不确定性驾驶行为,解决时变时延通信条件下非信控多交叉路口混合交通流难以协调与控制难题。
Non-signal-control multi-intersection hybrid vehicle group networked prediction and cooperative control method and device
非信控多路口混合车群网络化预测与协同控制方法及装置
2023-12-12
Patent
Electronic Resource
Chinese
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