The invention discloses a self-adaptive energy-saving vehicle-following speed planning method, which comprises the following steps of: acquiring and processing self-vehicle information: acquiring a front vehicle state and road information through a vehicle-mounted sensor and vehicle networking equipment, sampling at equal intervals in a spatial domain, and acquiring gradient prediction information; front vehicle speed prediction: adopting a neural network to perform short-term prediction on the front vehicle speed; establishing an energy-saving vehicle-following speed optimization problem: selecting nominal kinetic energy, passing time and acceleration of the vehicle as optimization variables, taking minimum driving energy consumption as a target, considering comfort and safety, and designing model prediction control; optimization problem solving and online vehicle speed control are conducted, specifically, a prediction domain is determined, a commercial IPOPT solver is called to calculate an energy-saving vehicle following speed optimization problem, and a first acceleration signal in the prediction domain is used for vehicle speed control and rolling forward optimization and control. According to the method, the energy consumption of car-following cruise in a slope scene can be reduced, and the timeliness and practicability of car-following speed planning are ensured.
本发明公开了一种自适应节能跟车速度规划方法,包括:自车信息获取与处理:通过车载传感器及车联网设备获取前车状态和道路信息,在空间域上等距采样,获取坡度预测信息;前车速度预测:采用神经网络对前车车速进行短期预测;节能跟车速度优化问题建立:选取车辆标称动能、通行时间、加速度作为优化变量,以行驶能耗最低为目标,考虑舒适性和安全性,设计模型预测控制;优化问题求解与在线车速控制:确定预测域,调用商用IPOPT求解器计算节能跟车速度优化问题,将预测域内第一个加速度信号用于控制车速,滚动向前优化和控制。本发明可降低坡度场景下跟车巡航的能耗,保证跟车速度规划的时效性及实用性。
Self-adaptive energy-saving car-following speed planning method
一种自适应节能跟车速度规划方法
2024-01-12
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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