A vehicle multi-objective coordinated lane change assist adaptive cruise control method
A technology of adaptive cruise and control methods, which is applied to control devices, vehicle components, input parameters of external conditions, etc., and can solve problems such as large differences in system structure and control algorithm, difficulty in ensuring lane-changing safety, and inability to identify lane-changing intentions.
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[0052] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
[0053] Based on the Model Predictive Control (MPC, Model Predictive Control) theory, the present invention proposes a vehicle multi-objective coordinated lane change assist adaptive cruise control method ((LCACC, AdaptiveCruiseControlwithLaneChangeAssist), which uses the longitudinal dynamic model of the lane changing vehicle as the control Object, through the surrounding multi-vehicle information and the driver's expected car-following model, predict the state of the self-vehicle, the state of the surrounding multi-vehicles and the driver's expected car-following state in the future, and adjust the weight of the car following in combination with the state of the self-vehicle and the state of the surrounding multi-vehicles coefficient, establish a comprehensive performance index that takes into account tracking, safety and comfort, and use rolling time...
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