The invention discloses a vehicle queue collaborative prediction control method in a curve scene. According to the method, each following vehicle in a queue keeps a constant speed and a constant inter-vehicle driving path length on a curve road. According to the method, it is assumed that a communication topology between vehicles is unidirectional, that is, vehicle state information is only transmitted from a front vehicle to a rear vehicle, a delay trajectory of the front vehicle is used as a reference trajectory, a local MPC optimization problem of each following vehicle is established, and control input of each following vehicle is obtained by solving the local MPC optimization problem online; therefore, each following vehicle in the queue is kept at a constant speed and a constant inter-vehicle driving path length on the curved road, and the requirement for road information or a preset driving track is avoided. According to the method, under the condition that a one-way communication topology comprises a directed spanning tree, a closed-loop queue control system realizes stable driving on a curved road at an expected speed and an expected inter-vehicle driving path length.
本发明公开了一种弯道场景下的车辆队列协同预测控制方法,该方法使队列中每个跟随车辆在弯曲道路上保持恒定的速度和恒定的车际行驶路径长度。该方法假设车辆之间的通信拓扑是单向的,即车辆状态信息只从前方车辆传输到后方车辆,利用前行车辆的延迟轨迹作为参考轨迹,建立每辆跟随车的局部MPC优化问题,通过在线求解该局部MPC优化问题得到每辆跟随车的控制输入,使队列中每辆跟随车在弯曲道路上保持恒定的速度和恒定的车间行驶路径长度,避免了对道路信息或预先设定的行驶轨迹的需求。本方法在单向通信拓扑包含有向生成树的情况下,闭环队列控制系统实现在弯曲道路上以期望速度和期望车间行驶路径长度的稳定行驶。
Vehicle queue collaborative prediction control method in curve scene
一种弯道场景下的车辆队列协同预测控制方法
2024-02-06
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Hybrid vehicle queue distributed model prediction and control method
European Patent Office | 2021
|Vehicle queue control method, vehicle queue control device and electronic device
European Patent Office | 2023
|Vehicle transverse and longitudinal optimization control method suitable for curve cruise scene
European Patent Office | 2023
|European Patent Office | 2022
|