The invention discloses a vehicle queue curve driving stability control method based on transverse and longitudinal decoupling, and provides a distributed model prediction framework after transverse and longitudinal decoupling after vehicle queue curve motion characteristics are decoupled. A pilot vehicle longitudinal speed tracking controller is designed, and tracking of the expected speed is achieved; establishing a transverse tracing error model and designing a transverse tracing controller to realize tracing of an expected trajectory by the pilot vehicle; based on the variable time headway and a Lyapnov function, a queue spacing controller is designed to ensure the longitudinal stability of the queue, and the tracking of the following vehicle on the historical track of the front vehicle is realized through a transverse tracking controller. According to the invention, queue tracking and spacing keeping under the curve can be realized, and accurate transverse tracking and stable longitudinal following during queue curve driving are ensured; for the interference on the queue spacing caused by the road curvature change during curve driving, the method can quickly realize the spacing error convergence and ensure the queue stability in the driving process.

    本发明公开了一种基于横纵向解耦的车辆队列弯道行驶稳定性控制方法,对车辆队列弯道运动特性解耦后,提出一种横纵向解耦后的分布式模型预测框架。设计领航车纵向速度跟踪控制器,实现对期望速度的跟踪;建立横向寻迹误差模型并设计横向寻迹控制器,实现领航车对期望轨迹的寻迹;基于可变车头时距与Lyapnov函数,设计队列间距控制器保证队列纵向稳定,通过横向寻迹控制器实现跟随车对前车历史轨迹的寻迹。本发明能实现弯道下队列循迹与间距保持,保证队列弯道行驶时横向寻迹精准且纵向跟随稳定;对弯道行驶时因道路曲率变化而对队列间距造成的干扰,本发明能快速实现间距误差收敛并确保行驶过程队列稳定。


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    Title :

    Vehicle queue curve driving stability control method based on transverse and longitudinal decoupling


    Additional title:

    一种基于横纵向解耦的车辆队列弯道行驶稳定性控制方法


    Contributors:
    XU XIAOMEI (author) / ZHAO JUNWEI (author) / WANG WEIWEI (author) / LYU LIYA (author) / SUN NING (author) / XIAO GUANGBING (author) / ZHANG YONG (author) / WAN MAOSONG (author) / JU FEI (author) / CHENG ZHUN (author)

    Publication date :

    2024-11-08


    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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