The invention discloses an intelligent motorcade following control method based on motion state estimation under communication delay, and the method comprises the steps: employing a motion state estimation algorithm, carrying out the estimation of the state information of a front vehicle under a delay condition, transmitting the estimated state information to a model prediction controller, and determining the expected acceleration of a following vehicle, the control effect of the vehicle formation is improved while the queue can stably run. Through the formation control method for vehicle motion state estimation, relatively accurate preceding vehicle state information can be obtained under the condition of communication delay, and then the accuracy of MPC decision making is ensured.
本发明公开一种通信延迟下基于运动状态估计的智能车队跟随控制方法,采用运动状态估计算法,对延迟条件下前车的状态信息进行估计,将估计后的状态信息传递到模型预测控制器,进而决策出跟随车辆的期望加速度,使得队列能够稳定行驶的同时提高车辆编队的控制效果。通过上述车辆运动状态估计的编队控制方法,在通信延迟情况下,可以得到相对准确的前车状态信息,进而保证MPC控制器决策的准确性。
Intelligent motorcade following control method based on motion state estimation under communication delay
通信延迟下基于运动状态估计的智能车队跟随控制方法
2023-12-29
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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