The invention discloses a self-adaptive cruise control method with a lane changing function suitable for an intelligent automobile, and belongs to the technical field of intelligent driving. According to the method, a vehicle online lane changing decision model is established, and a current driving state is decided by adopting an extreme gradient boosting tree based on Bayesian optimization; model predictive control is adopted as a frame of vehicle multi-target vehicle-following cruise, fuzzy control is introduced to dynamically adjust a multi-target weight matrix, and the adaptive capacity of a vehicle under complex traffic working conditions is improved; and an optimal lane changing trajectory is optimized through a bat algorithm, and finally stable tracking of a reference trajectory is realized. According to the self-adaptive cruise control method, multi-target car following control under variable working conditions can be achieved, the lane changing time can be accurately recognized, and the lane changing function is achieved.

    本发明公开了一种适用于智能汽车的具有换道功能的自适应巡航控制方法,属于智能驾驶技术领域。本发明建立车辆在线换道决策模型,采用基于贝叶斯优化的极致梯度提升树对当前行驶状态进行决策;采用模型预测控制作为车辆多目标跟车巡航的框架,引入模糊控制动态调节多目标的权重矩阵,提高车辆在复杂交通工况的适应能力;通过蝙蝠算法优化出最优换道轨迹,最后实现对参考轨迹的稳定跟踪。本发明提出的自适应巡航控制方法,能够实现在变工况下的多目标跟车控制,以及准确识别换道时机,实现换道功能。


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    Title :

    Self-adaptive cruise control method with lane changing function suitable for intelligent automobile


    Additional title:

    适用于智能汽车的具有换道功能的自适应巡航控制方法


    Contributors:
    WU XIAOJUAN (author) / LING XINGPENG (author) / CAO CHANG (author) / ZHANG WEIDONG (author) / HU JIANGPING (author)

    Publication date :

    2024-07-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



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