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Heterogeneous motorcade cooperative self-adaptive cruise control method based on acceleration feedforward

A technology of adaptive cruise and control method, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of difficult design, and achieve the effect of reducing design difficulty, improving traffic capacity, and improving following performance

Active Publication Date: 2020-03-17
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, the existing cooperative adaptive cruise control method relies on the professional experience of developers and is difficult to design, the present invention provides a cooperative adaptive cruise control method based on acceleration feedforward for heterogeneous fleets A cruise control method, the adaptive cruise control method comprising:

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  • Heterogeneous motorcade cooperative self-adaptive cruise control method based on acceleration feedforward
  • Heterogeneous motorcade cooperative self-adaptive cruise control method based on acceleration feedforward
  • Heterogeneous motorcade cooperative self-adaptive cruise control method based on acceleration feedforward

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[0055] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, not to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0056] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0057] An acceleration feed-forward based heterogeneous fleet cooperative adaptive cruise control method of the present invention, the adaptive cruise control method includes:

[0058] Step S10, based on the obtained controlled vehicle actuator time delay and vehicle time constant, ...

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Abstract

The invention belongs to the technical field of intelligent driving, particularly relates to a heterogeneous motorcade cooperative self-adaptive cruise control method based on acceleration feedforward, and aims to solve problems that a cooperative self-adaptive cruise control method in the prior art depends on professional experience of developers and is high in design difficulty. The method comprises steps that a controlled vehicle longitudinal dynamic model is established, and the vehicle following strategy is defined; a transfer function of a controlled vehicle and a preceding vehicle is obtained, and the motorcade frequency domain chord stability condition is analyzed; a state space model of the controlled motorcade is established; a time domain chord stability condition of the controlled motorcade is determined; based on the preset vehicle interval time parameter, a feedforward control parameter and a feedback control parameter are obtained to perform vehicle cruise control. The method is advantaged in that a feasible solution of a problem is conveniently solved by using a calculation tool, design difficulty is reduced, the minimum interval time parameter is obtained, so a cooperative adaptive cruise controller with best following performance is obtained, and the traffic capacity of the whole motorcade is improved.

Description

technical field [0001] The invention belongs to the technical field of intelligent driving, and in particular relates to a collaborative adaptive cruise control method for heterogeneous fleets based on acceleration feedforward. Background technique [0002] In recent years, with the development of on-board sensors and vehicle-to-vehicle and vehicle-to-infrastructure communication technologies, cooperative adaptive cruise control (CACC, cooperative adaptive cruise control) has become the One of the most effective ways to collaborate. Unlike adaptive cruise control (ACC), which is only sensor-based, CACC uses a wireless network to share information about neighboring vehicles in the fleet, so the vehicle can respond more quickly to changes in the traffic ahead. Some studies have shown that increasing the proportion of vehicles with CACC function on the road can significantly improve fuel economy, traffic wave suppression ability, road traffic capacity, and driving comfort. ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 朱圆恒赵冬斌
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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