The invention discloses a spatial domain energy-saving vehicle speed planning method, which comprises the following steps of: acquiring road information including the altitude and speed limit of a front road, the latitude and longitude coordinates of a current position, a road network, terrain and altitude, and the speed limit information of the front road; updating gradient information of a spatial domain: sampling altitudes of front roads at equal intervals, and calculating a gradient corresponding to each interval; nominal vehicle kinetic energy and passing time are used as state variables, acceleration is used as a control variable, and road gradient is used as a disturbance variable; establishing a spatial domain state transition equation; establishing a variable constraint; designing an optimization target; constructing spatial domain model predictive control; energy-saving vehicle speed rolling optimization solution: balancing solving timeliness and optimization performance, determining a prediction domain, and solving an energy-saving vehicle speed rolling optimization problem; and online vehicle speed control: the first acceleration signal in the prediction domain is used for vehicle speed control, rolling forward optimization and control. According to the invention, a good energy-saving control effect at the gradient can be ensured, and the real-time performance of vehicle speed planning is high.
本发明公开了一种空间域节能车速规划方法,包括:获取道路信息,含前方道路海拔和限速、当前位置经纬度坐标、道路网络与地形及海拔、前方道路限速信息;更新空间域坡度信息:等间距对前方道路海拔采样,计算各间距对应坡度;建立节能车速滚动优化:标称车辆动能和通行时间作为状态变量,加速度作为控制变量,道路坡度作为干扰量;建立空间域状态转移方程;建立变量约束;设计优化目标;构建空间域模型预测控制;节能车速滚动优化求解:平衡求解时效性与优化性能,确定预测域,求解节能车速滚动优化问题;在线车速控制: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。本发明可保证坡度时的节能控制效果好,车速规划实时性强。
Spatial domain energy-saving vehicle speed planning method
一种空间域节能车速规划方法
2024-01-30
Patent
Electronic Resource
Chinese
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