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An Adaptive Dynamic Sliding Mode Control Method for Car-Following Model with Desired Safety Margin

A car-following model and safety margin technology, applied in the fields of automatic driving, adaptive cruise control, and vehicle engineering, can solve the problems of model stability without a control method, traffic jam relief and suppression, etc.

Active Publication Date: 2020-04-14
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Although we apply the expected safety margin car-following model to the anti-rear-collision system of connected vehicles, we do not give a control method for the stability of the model, and the existing technology cannot know how to deal with congested traffic to alleviate or suppress
Therefore, the prior art does not provide a reasonable control scheme that can alleviate and suppress traffic jams in the DSM model

Method used

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  • An Adaptive Dynamic Sliding Mode Control Method for Car-Following Model with Desired Safety Margin
  • An Adaptive Dynamic Sliding Mode Control Method for Car-Following Model with Desired Safety Margin
  • An Adaptive Dynamic Sliding Mode Control Method for Car-Following Model with Desired Safety Margin

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Embodiment Construction

[0025] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0026] The present invention introduces an adaptive dynamic sliding mode control method to stabilize the queue based on the expected safety margin car-following model when there is a small disturbance in the leading vehicle. The specific steps are as follows:

[0027] (1) Based on the DSM car-following model:

[0028]

[0029] In the formula, α is the driver’s response sensitivity coefficient; v n (t) is the speed of vehicle n at time t; l is the length of the vehicle; x n (t) is the position of vehicle n at time t; SMD is the driver's expected safety margin; d is the maximum braking acceleration of the vehicle; a n (t) is the acceleration of vehicle n at time t; τ is the response time of the vehicle system.

[0030] (2) Design an adaptive dynamic sliding mode control method:

[0031]

[0032] In the formula, s n (t)=x n-1 (t)-x n...

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Abstract

The present application discloses an adaptive dynamic sliding mode control method of an expected safety margin following model, which is used to dissipate the system disturbance when a small disturbance occurs in a queue system in the following process of vehicles so that traffic shockwave no longer spreads backwards and the stability of the following queue is maintained. The technical solution isthat after the introduction of adaptive dynamic sliding control method, compared with the original DSM following model, the validity of the proposed adaptive dynamic synovial control method is verified to provide technical support for the stability control of adaptive cruise control, automatic driving and other areas of vehicles.

Description

technical field [0001] The present invention relates to a method used in the technical field of vehicle engineering, in particular to a method for controlling the stability of vehicle platoons in the process of vehicle following, and in particular to an adaptive following model with an expected safety margin. A method for dynamic slide film control, which can be widely used in adaptive cruise control, automatic driving and other fields. Background technique [0002] With the rapid development of my country's transportation industry, although it has made important contributions to my country's social and economic development, it has also brought many problems, such as traffic congestion, traffic accidents, and environmental pollution. From the perspective of environmental protection and traffic system operation efficiency, maintaining smooth traffic, alleviating and suppressing traffic congestion has always been a major problem to be solved urgently. [0003] In order to exp...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 王云鹏张俊杰鲁光泉鹿应荣陈鹏丁川
Owner BEIHANG UNIV