Vehicle cooperative adaptive cruise control method based on variable time-spacing strategy

Abstract

The invention provides a vehicle cooperative adaptive cruise control method based on a variable time interval strategy. Use radar, on-board sensors and V2V communication to determine the number of CACC vehicles that are continuous in front of the current vehicle and within its communication range, and use different variable time-distance strategies to determine the expected safe following distance according to the number of vehicles, and then determine the expected acceleration, so as to realize the vehicle control. The variable time distance of the present invention changes flexibly with the speed of the vehicle, the speed difference, and the acceleration of the vehicle in front, and can effectively balance the safety, car-following performance and road traffic capacity during driving, and can control the vehicle coordination Driving, improve road traffic flow, shorten travel time, and at the same time, the speed of the vehicle changes more smoothly during driving, which can improve driving comfort.

Description

technical field [0001] The invention belongs to the field of intelligent transportation, and relates to a vehicle cooperative adaptive cruise control method based on a variable time gap (Variable Time Gap, VTG) spacing strategy. Background technique [0002] Automobile Adaptive Cruise Control (ACC) system is developed on the basis of traditional cruise control (Cruise Control, CC) system. The set control method automatically adjusts the speed of the vehicle to keep a proper safe distance between the vehicle and the vehicle in front. The ACC system can improve driving safety and driving comfort, and reduce traffic accidents caused by driver's human negligence and operation errors. [0003] On the basis of ACC technology, thanks to the development of in-vehicle wireless communication technology, Cooperative Adaptive Cruise Control (CACC) is gradually becoming a research hotspot. Through Vehicle-to-Vehicle (V2V) communication technology Realize the information transfer of mul...

AI Technical Summary

Problems solved by technology

The CTH strategy is a spacing strategy widely used in the current ACC / CACC system. There is a linear relationship between the expected vehicle spacing determined by the CTH strategy and the vehicle speed, and the headway is constant. CTH strategy underperforms

The literature "B.vanArem, H.Driever, et al. Design and evaluation of an integrated full-range speed assistant. Delft: TNO report, 2007-D-R0280 / B, 2007." designed two control methods, respectively considering The position and speed information of multiple vehicles, but it does not involve the position and speed information at the same time, nor does it involve the acceleration information of multiple vehicles, nor does it involve the communication delay of vehicles. In practice, the delay of V2V communication always exists, and vehicle communication Latency and communication uncertainty have a significant impact on the stability and dynamic performance of vehicle coordination systems

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