The invention relates to the technical field of intelligent auxiliary driving, and particularly discloses a variable-time-headway self-adaptive cruise control method and system which are used for solving the challenge of balancing endurance and comfort in multi-target control of self-adaptive cruise control of an existing electric vehicle. The method provided by the invention comprises the following steps: establishing hierarchical control logic, switching between a constant-speed cruise mode and a vehicle-following cruise mode, adopting a variable inter-vehicle time interval strategy considering acceleration, and optimizing a control algorithm through model predictive control and relaxation factor extension. According to the method, the variable inter-vehicle time interval strategy of the acceleration of the front vehicle and model prediction control are considered, a feasible solution is expanded by using a relaxation factor, control optimization is converted into quadratic programming with constraints, safety is ensured, and stable cruising and accurate vehicle following are achieved.
本发明涉及智能辅助驾驶技术领域,具体公开了一种变车头时距的自适应巡航控制方法及系统,用于解决现有的电动汽车的自适应巡航控制面临在多目标控制中平衡续航和舒适性的挑战,同时需在多变量和约束条件下优化系统响应速度和稳定性的问题,本发明提出的方法包括建立分层控制逻辑、切换定速巡航与跟车巡航模式、采用考虑加速度的可变车间时距策略,以及通过模型预测控制和松弛因子扩展优化控制算法;本发明通过考虑前车加速度的可变车间时距策略和模型预测控制,利用松弛因子扩展可行解,将控制优化转化为带约束的二次规划,确保安全并实现平稳巡航和精准跟车。
Adaptive cruise control method and system capable of changing time headway
一种变车头时距的自适应巡航控制方法及系统
2024-11-19
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 |
MULTI-OBJECTIVE ADAPTIVE CRUISE CONTROL STRATEGY BASED ON VARIABLE TIME HEADWAY
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