The invention belongs to the field of intelligent vehicle motion control, and particularly relates to a networked automatic vehicle control method under mixed traffic. The method comprises the following steps: constructing a vehicle kinematic model; the current area where the vehicle is located is judged, if the vehicle enters the sensing area, the positions and speeds of all vehicles in the lane are detected every 0.1-2 seconds, if the vehicle enters the containment control area, whether the networked automatic vehicle is the head vehicle of the vehicle team is judged, and if yes, a first vehicle automatic control algorithm is executed according to a vehicle kinematics model; otherwise, judging whether the networked automatic vehicle is the first networked automatic vehicle in the vehicle team, and if yes, executing a second vehicle automatic control algorithm according to the vehicle kinematics model; otherwise, executing a third vehicle automatic control algorithm according to the vehicle kinematic model; according to the invention, the control effect can be improved, the safety can be guaranteed, and the traffic efficiency can be improved.
本发明属于智能汽车运动控制领域,具体涉及一种混合交通下的网联自动车控制方法;该方法包括:构建车辆运动学模型;判断车辆当前所处区域,若车辆进入感知区,则每隔0.1秒~2秒检测车道内的所有车的位置和速度,若车辆进入牵制控制区,则判断网联自动车是否为车队头车,若是,则根据车辆运动学模型执行第一车辆自动控制算法;否则,判断网联自动车是否为车队内第一辆网联自动车,若是,则根据车辆运动学模型执行第二车辆自动控制算法;否则,根据车辆运动学模型执行第三车辆自动控制算法;本发明可改善控制效果,既能保障安全,又能提高通行效率。
Networked automatic vehicle control method under mixed traffic
一种混合交通下的网联自动车控制方法
2024-03-01
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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