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。
Vehicle team adaptive cruise control method
一种车队自适应巡航控制方法
2025-03-21
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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