The invention discloses a transverse and longitudinal coupled motorcade cooperative control method based on a Frenet coordinate system. According to the method, the initial state is given for each vehicle in the vehicle team, and the states of other vehicles are transmitted and received according to the communication topology, so that the vehicles in the whole vehicle team follow the target state, and the consistency of the vehicles in the vehicle team and the safety of the vehicle team under the non-constant straight road condition are ensured. Firstly, a three-degree-of-freedom dynamical model of a vehicle is introduced, then a Frenet coordinate system is introduced, and the two models are combined to obtain a control model of the single vehicles in a motorcade. Through the DMPC algorithm, each vehicle in the vehicle team is optimized and solved at each moment, so that the vehicle team keeps good vehicle team cooperation performance under the non-constant straight road condition, a good result is obtained in simulation, and the effectiveness of the transverse and longitudinal coupling distributed model prediction control method under the Frenet coordinate system is verified.

    本发明公开了一种基于Frenet坐标系的横纵向耦合的车队协同控制方法。本发明中,为车队中的每辆车给定初始状态,并根据通信拓扑传输和接收其他车辆的状态,进而使整个车队中的车辆跟随目标状态,确保在非恒直道路况下车队中车辆的一致性和车队的安全性。首先引入车辆的三自由度动力学模型,再引入Frenet坐标系,并将两者结合得出车队中单车的控制模型。通过DMPC算法对车队中每辆车在每个时刻进行优化求解,使车队在非恒直道路况下保持良好的车队协同性能,并且在仿真中得出了较好的结果,验证了Frenet坐标系下横纵向耦合分布式模型预测控制方法的有效性。


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    Title :

    Transverse and longitudinal coupling motorcade cooperative control method based on Frenet coordinate system


    Additional title:

    一种基于Frenet坐标系的横纵向耦合的车队协同控制方法


    Contributors:
    MA BOCHENG (author) / HE JIACHENG (author) / SU HONGYE (author) / ZHU YANG (author)

    Publication date :

    2024-12-17


    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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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