Car-following model stability control method based on subjective danger perception

A car-following model and stability technology, which is applied in the field of automatic driving and adaptive cruise control, can solve the problems of vehicle system perception errors affecting vehicle decision-making and the stability of vehicle queues, and achieve the goal of preventing traffic congestion and uniform traffic flow Effect

Active Publication Date: 2018-01-09
北京踏歌智行科技有限公司
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Problems solved by technology

Due to the existence of factors such as sensor errors, communication delays, GPS errors or equipment failures, and traffic environments, this uncertain traffic environment and vehicle system perception errors will affect the vehicle's decision-making, and then affect the stability of the vehicle queue. sex

Method used

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  • Car-following model stability control method based on subjective danger perception
  • Car-following model stability control method based on subjective danger perception
  • Car-following model stability control method based on subjective danger perception

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Embodiment Construction

[0024] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0025] The present invention introduces a synovial film control strategy to stabilize the stability of the queue based on the expected safety margin car-following model in consideration of disturbances in vehicle information. The specific steps are as follows:

[0026] (1) Establish a DSM car-following model considering the perceptual safety margin disturbance level:

[0027]

[0028] 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, ξ is the system disturbance level, a n (t) is the acceleration of vehicle n at time t, and τ is the response time of the vehicle system.

[0029] (2) Design synovium contr...

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Abstract

The invention provides a sliding model control method for a desired safety margin car-following model so as to avoid the influence of system disturbance errors caused by the uncertain traffic environment and a vehicle system on the traffic flow stability. According to the technical scheme, under the condition that system disturbance is considered, the sliding model control method is introduced, and a novel DSM car-following model is established. Compared with an original DSM car-following model, the provided sliding model control method can effectively improve the queue stability, and technical support is provided for stability control methods of the fields of self-adaption cruise control, automatic driving and the like of vehicles.

Description

technical field [0001] The present invention relates to a method used in the field of automatic control and vehicle engineering technology, and specifically aims at the uncertainty of information acquisition in the vehicle following process, and proposes a synovial film control method based on the subjective risk perception following model, To improve the stability of the vehicle platoon, this method can be widely used in adaptive cruise control, automatic driving and other fields. Background technique [0002] Car following is one of the most common driving behaviors on urban roads or highways. Car-following models have long been used to describe the movement of a following vehicle following a preceding vehicle. Since the instability of traffic flow is related to the driver's driving behavior, car-following research is mainly based on the driving behavior of individual vehicles in the vehicle platoon. Usually, when a driver subjectively feels that the distance between his...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/04B60W40/107G08G1/00
Inventor 王云鹏张俊杰鲁光泉陈鹏丁川
Owner 北京踏歌智行科技有限公司
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