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A Calculation Method for Optimal Control of Vehicle Adaptive Cruise Control

A technology of adaptive cruise and optimal control, applied in the direction of control devices, etc., can solve the problems of abstract calculation method, difficult realization, complicated online calculation, etc., and achieve the effect of simple online implementation, strong practicability, and few parameters.

Active Publication Date: 2019-07-05
ZHEJIANG UNIV OF TECH
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  • Application Information

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Problems solved by technology

[0003] In order to overcome the shortcomings of the existing calculation methods in the adaptive cruise optimization control of vehicles, such as abstract understanding, complex online calculation and difficult implementation, the present invention provides a calculation method for vehicle adaptive cruise optimization control that is intuitive to understand, simple in design, and easy to implement

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  • A Calculation Method for Optimal Control of Vehicle Adaptive Cruise Control
  • A Calculation Method for Optimal Control of Vehicle Adaptive Cruise Control
  • A Calculation Method for Optimal Control of Vehicle Adaptive Cruise Control

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Embodiment Construction

[0030] The method of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0031] refer to Figure 1 ~ Figure 4 , a vehicle adaptive cruise optimization control calculation method, the method comprises the steps of:

[0032] 1) Consider the problem description of vehicle adaptive cruise optimization control, see formula (1):

[0033]

[0034]

[0035] Among them, the symbol "s.t." means "constraint"; the variable k represents the controller sampling time; i|k represents the prediction time of the corresponding variable at k time to the future k+i time; the constants N>0, β>0 and τ>0 respectively represent the prediction step size, compression factor and sampling interval of the cruise controller; the constant T 1 is the time coefficient of the vehicle tracking the desired acceleration command; the constant K h =T 2 +0.5τ-0.5τT 2 / T 1 and K c =0.5τ 2 / T 1 , where the constant T 2 >0 is the headway safety...

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Abstract

The invention discloses a calculation method for vehicle self-adaptive cruise optimal control, and belongs to the field of vehicle self-adaptive cruise control. The demands for real-time performance and accuracy of cruise performance optimal control are enhanced; for the problem of vehicle self-adaptive cruise optimal control, the feasible interval of a command acceleration variable quantity at the current sampling moment is calculated on line, the optimal value of the command acceleration variable quantity at the current sampling moment is solved by introducing a golden section method, then the command acceleration value of a vehicle at the current sampling moment is obtained, and self-adaptive cruise optimal control with high real-time performance and accuracy is achieved. With the calculation method, it is unnecessary to calculate gradient information of a cruise performance function, understanding is simple, a few parameters are set, generality is high, and the demands for high real-time performance and accuracy are met when the vehicle is subjected to self-adaptive cruise optimal control.

Description

technical field [0001] The invention belongs to the field of vehicle adaptive cruise control and relates to a calculation method for vehicle adaptive cruise optimization control. Background technique [0002] Vehicle adaptive cruise control system is a widely used assisted safety driving control technology, which can reduce the driver's driving labor, improve driving safety by maintaining a reasonable inter-vehicle distance, and simultaneously take into account driving comfort and driving economy. Vehicle adaptive cruise control uses on-board sensors and functional modules to obtain information about the vehicle and itself, adjusts the acceleration and deceleration of the vehicle itself, and realizes efficient, safe and comfortable driving of the vehicle. It is a basic control method for autonomous vehicles. During the driving process of the vehicle, as the speed of the vehicle in front changes, the automatic control of the vehicle and the vehicle in front maintains a certai...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/14B60W50/00
CPCB60W30/14B60W50/00B60W2050/0019B60W2050/0028B60W2050/0043
Inventor 何德峰何文韬宋秀兰彭彬彬
Owner ZHEJIANG UNIV OF TECH