The invention discloses an automatic driving fleet cooperative adaptive cruise control method based on adaptive dynamic planning, which comprises the following steps: according to dynamic characteristics of a vehicle, adopting a kinetic equation of longitudinal movement of the vehicle and implementing a fixed time interval vehicle following strategy to obtain an error between an actual vehicle distance and an expected vehicle distance; according to the kinetic equation of the longitudinal movement of the vehicle and the error between the actual vehicle distance and the expected vehicle distance, a dynamic equation of the cooperative self-adaptive cruise control system is constructed, and the state of the cooperative self-adaptive cruise control system is obtained; constructing a vehicle controller according to the state of the cooperative adaptive cruise control system, wherein the controller comprises a control gain matrix; an initial execution controller of each vehicle is constructed according to a vehicle controller, a vehicle optimal controller is solved by adopting a self-adaptive dynamic planning method, and the self-adaptive dynamic planning method comprises two layers of filter structures: a first layer of filter structure is constructed by using the states of the initial execution controller and a cooperative self-adaptive cruise control system, and two groups of filter values are obtained; constructing a second-layer filter structure by using the two groups of filtering values; solving the control gain matrix by using a value iteration strategy in an adaptive dynamic programming method to obtain an optimal control gain matrix; and substituting the optimal control gain matrix into the vehicle controller to obtain a vehicle optimal controller, and controlling the vehicle by using the vehicle optimal controller. Compared with the prior art, the method has the advantages that the requirement for the data storage amount is lower, the calculation complexity is lower, and the problem that data processing is difficult when an ADP method is applied to a CACC system is solved.
本发明公开了一种基于自适应动态规划的自动驾驶车队协同自适应巡航控制方法,包括:根据车辆的动态特性,采用车辆纵向运动的动力学方程并实施固定时间间隔跟车策略,得到实际车间距与期望车间距的误差,根据车辆纵向运动的动力学方程和实际车间距与期望车间距的误差构建协同自适应巡航控制系统的动态方程,得到协同自适应巡航控制系统状态;根据协同自适应巡航控制系统状态构建车辆控制器,控制器包括控制增益矩阵;根据车辆控制器构建每辆车的初始执行控制器,采用自适应动态规划方法求解车辆最优控制器,自适应动态规划方法包含两层滤波器结构:使用初始执行控制器和协同自适应巡航控制系统状态构建第一层滤波器结构,得到两组滤波值;使用两组滤波值构建第二层滤波器结构;使用自适应动态规划方法中的值迭代策略对控制增益矩阵进行求解,得到最优的控制增益矩阵;将所述最优控制增益矩阵代入所述车辆控制器中,得到车辆最优控制器,使用车辆最优控制器对车辆进行控制。与现有的技术相比,本发明对数据的存储量要求更少,计算复杂性更低,解决了ADP方法应用在CACC系统数据处理困难的问题。
Self-adaptive dynamic programming-based cooperative self-adaptive cruise control method for automatic driving fleet
一种基于自适应动态规划的自动驾驶车队协同自适应巡航控制方法
2024-07-23
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 |
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