The invention provides a method for controlling a hybrid vehicle queue on a curved road, which can be applied to the technical field of intelligent driving. The method comprises the following steps: extracting vehicle motion characteristics from historical driving data of a pilot vehicle in a hybrid vehicle queue, wherein the hybrid vehicle queue comprises an automatic driving following vehicle and the pilot vehicle driven by a driver; the vehicle motion features are input into an aggressive coefficient estimator, the aggressive coefficient of the driver is obtained, and the aggressive coefficient estimator is constructed based on a multi-feature decision analysis method; the road curvature sequence, the historical speed sequence and the aggressive coefficient are input into a vehicle speed prediction model, a speed prediction sequence of the pilot vehicle is obtained, the vehicle speed prediction model is composed of a neural network model and a constant acceleration prediction model, and the constant acceleration prediction model sets the acceleration of the pilot vehicle in the driving process to be a constant value; and designing a distributed model prediction control algorithm according to the speed prediction sequence of the pilot vehicle to control the autonomous vehicle in the hybrid vehicle queue.
本公开提供了一种曲线道路下混合车辆队列的控制方法,可以应用于智能驾驶技术领域。该方法包括:从混合车辆队列中领航车的历史驾驶数据中提取车辆运动特征,混合车辆队列中包括自动驾驶的跟随车和驾驶员驾驶的领航车;将车辆运动特征输入激进系数估计器,得到驾驶员的激进系数,激进系数估计器是基于多特征决策分析方法构建的;将道路曲率序列、历史速度序列和激进系数输入车辆速度预测模型,得到领航车的速度预测序列,车辆速度预测模型是由神经网络模型与恒加速预测模型构成的,恒加速预测模型是将领航车在行驶过程中的加速度设置为恒定值;根据领航车的速度预测序列设计分布式模型预测控制算法对混合车辆队列中的自动驾驶车进行控制。
Control method of hybrid vehicle queue under curve road
曲线道路下混合车辆队列的控制方法
2024-11-08
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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