The invention discloses a long queue hierarchical control model method under a multi-virtual head vehicle structure. The long queue hierarchical control model method comprises the following steps that a roadside control end collects long queue vehicle driving data; loading the driving data into an optimal virtual head vehicle sequence calculation model; judging whether a result output by the model meets a genetic algorithm termination condition or not, and if yes, outputting an optimal virtual head vehicle sequence; if not, continuing to perform selection operation, crossover operation and mutation operation in sequence; the vehicle queue control model takes the optimal virtual head vehicle sequence as a basis, the speed difference between adjacent sub-queue head vehicles of a long queue and the speed difference between a sub-queue following vehicle and the sub-queue head vehicle are introduced into a control layer, and a sub-queue head vehicle control layer model and a sub-queue following vehicle control layer model are obtained. The built model has high recognition degree on the speed change of the head vehicle, the speed disturbance influence caused by the speed change can be effectively reduced, and the high efficiency of long-queue driving of the automatic driving vehicle is ensured.
本发明公开了一种多虚拟头车结构下的长队列分级控制模型方法,包括以下步骤:路侧控制端采集长队列车辆行驶数据;将所述行驶数据载入最优虚拟头车序列计算模型;模型输出的结果是否满足遗传算法终止条件,若满足,则输出最优虚拟头车序列;若不满足,则继续依次进行选择操作、交叉操作和变异操作;车辆队列控制模型以最优虚拟头车序列为基础,将长队列相邻子队列头车的速度差、子队列跟随车与子队列头车的速度差分别引入控制层,得到子队列头车控制层模型和子队列跟随车控制层模型。所建模型对头车速度变化具有较高的识别度,能够有效削减速度变化所造成的速度扰动影响,确保自动驾驶车辆长队列行驶的高效性。
Long queue hierarchical control model method under multi-virtual head vehicle structure
一种多虚拟头车结构下的长队列分级控制模型方法
2024-01-05
Patent
Electronic Resource
Chinese
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