The invention discloses a control method and device for vehicle queue-following driving under lane keeping. The method comprises the steps that a driving vehicle queue is constructed under the road condition with gradient and curvature; aiming at a driving vehicle queue, establishing a disturbed vehicle following control system based on cooperative adaptive cruise control and lane keeping control in combination with longitudinal and transverse dynamics of vehicles; establishing a state feedback controller with feed-forward compensation based on the acquired acceleration information of the preceding vehicle, and adding the state feedback controller into a disturbed vehicle-following control system to obtain a queue vehicle-following model after feed-forward compensation; processing non-linear terms in the queue vehicle following model, introducing a non-linear saturation function, and establishing a saturation-limited uncertain following vehicle prediction model; and based on the uncertain following vehicle prediction model, a model prediction control technology is adopted to carry out rolling optimization on a performance target so as to realize longitudinal following and transverse lane keeping control of the vehicle. According to the method, longitudinal and transverse dynamics of vehicles are combined on complex driving roads with slopes and curvatures, lane keeping is combined with cooperative self-adaptive cruise control, and safer and more stable vehicle queue driving is achieved; by adopting a model prediction control technology, the accuracy and timeliness of vehicle queue following are improved.
本发明公开了一种车道保持下车辆跟队行驶的控制方法及装置,所述方法包括:在有坡度和曲率路况下构建行驶车辆队列;针对行驶车辆队列,基于协同自适应巡航控制和车道保持控制,结合车辆的纵向与横向动力学,建立受扰跟车控制系统;基于获取的前车加速度信息,建立具有前馈补偿的状态反馈控制器并加入受扰跟车控制系统中,获得经前馈补偿后的队列跟车模型;处理队列跟车模型中的非线性项,同时引入非线性饱和函数,建立饱和受限的不确定跟随车辆预测模型;基于不确定跟随车辆预测模型,采用模型预测控制技术滚动优化性能目标,以实现对车辆的纵向跟车和横向车道保持控制。本发明在有坡度和曲率的复杂行车道路,将车辆的纵向与横向动力学相结合,将车道保持与协同自适应巡航控制相结合,实现更安全稳定的车辆队列行驶;通过采用模型预测控制技术,提高了车辆队列跟随的准确性和及时性。
Control method and device for vehicle queue-following driving under lane keeping
车道保持下车辆跟队行驶的控制方法及装置
2024-10-15
Patent
Electronic Resource
Chinese
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