The invention discloses a motorcade self-adaptive cruise control method, which comprises the following steps of: A, establishing a dynamic safety demand distance model used for describing the demand of an intelligent network connection driving queue for a safety distance in a network connection environment; in combination with speed and acceleration information of front vehicles in the queue and influences of different positions of the vehicles in the queue, an information transmission coefficient and a position influence coefficient are introduced, and a dynamic safety demand distance strategy is established; b, improving a cooperative adaptive cruise control (CACC) model based on the dynamic safety demand distance model, and updating a time headway strategy into a dynamic safety demand distance strategy; introducing speed and interval delay to simulate a time delay relation between upper-layer planning and bottom-layer control; c, establishing a cooperative lane changing control strategy based on a self-adaptive spacing strategy, setting a slack spacing, a recovery spacing and a balance spacing according to different stages of forced lane changing of the vehicle, and performing self-adaptive change according to a lane changing stage indication variable; and constructing a collaborative lane changing optimization model to realize queue centralized control.

    本发明公开了一种车队自适应巡航控制方法,包括:步骤A:建立动态安全需求距离模型,用于描述网联环境下智能网联驾驶队列对安全间距的需求;结合队列内部前方车辆的速度、加速度信息,以及车辆所处队列中不同位置的影响,引入信息传递系数和位置影响系数,建立动态安全需求距离策略;步骤B:基于动态安全需求距离模型改进协同自适应巡航控制模型CACC,将车头时距策略更新为所述动态安全需求距离策略;引入速度与间距延迟模拟上层规划与底层控制之间的时滞关系;步骤C:建立基于自适应间距策略的协同换道控制策略,针对车辆强制换道的不同阶段设置松弛间距、恢复间距、均衡间距,根据换道阶段指示变量进行自适应变化;构建协同换道优化模型,以实现队列集中式控制。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle team adaptive cruise control method


    Additional title:

    一种车队自适应巡航控制方法


    Contributors:
    WANG XIANG (author) / TONG JIAXIN (author) / WANG KEXIN (author) / E WENJUAN (author) / HUA MENGYAO (author) / LIU XIANGXI (author)

    Publication date :

    2025-03-21


    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



    Adaptive cruise control method, adaptive cruise controller, storage medium and vehicle

    LI BINGYAN / YANG YOUTIAN / WANG XIAOYING et al. | European Patent Office | 2024

    Free access



    ADAPTIVE CRUISE CONTROL SYSTEM AND VEHICLE COMPRISING AN ADAPTIVE CRUISE CONTROL SYSTEM

    BRANDIN MAGNUS / ALI MOHAMMAD | European Patent Office | 2021

    Free access

    ADAPTIVE CRUISE CONTROL OF VEHICLE

    PILATTI TOMAS EDVARD / ELVART SHEJN / MILLZ AARON L et al. | European Patent Office | 2016

    Free access