Vehicle longitudinal following control method

Abstract

The invention discloses a vehicle longitudinal follow control method in expressway heavy truck queue driving. The vehicle longitudinal follow control method comprises the steps that based on a nonlinear model predictive control theory, according to obtained current road information and taking into account constraint of a physical actuator, the situation that vehicles in a queue is controlled to maintain the same speed with adjacent front vehicles and to maintain the desired vehicle distance is taken as the control target, and the control quantity is optimized and calculated and acts on a controlled vehicle; and based on a nonlinear dynamic equation of the vehicle, the state of the adjacent front vehicles at the next moment is predicted and serves as a part of a tracked and controlled target, and the speed deviation between the controlled vehicle and the front vehicles due to vehicle-mounted controller delay, transmission system delay and communication delay is reduced effectively; andtherefore, the vehicle distance can be controlled at a smaller numerical value in the travelling process of the vehicle queue, and the vehicle longitudinal follow control method indirectly improves the overall fuel economy of the vehicle queue according to the relationship between the air resistance and the vehicle distance in the travelling process of the vehicle.

Description

technical field [0001] The invention relates to a method for improving the following performance of vehicles in a platoon of heavy-duty trucks on an expressway, in particular to a method for controlling the longitudinal follow-up of vehicles in a platoon of heavy-duty trucks on an expressway. Background technique [0002] As an important form of transportation, highway heavy truck transportation occupies an important position in the development of world economy. When a heavy-duty truck is running at high speed, about 53% of its fuel consumption is used to overcome air resistance. In order to improve the fuel economy of heavy truck transportation on highways and the potential capacity of roads, heavy truck platooning control has been gradually proposed and has received extensive attention. [0003] The goal of heavy-duty truck platoon control is to control all vehicles in the platoon to maintain the same speed and to maintain the desired inter-vehicle distance between two ad...

AI Technical Summary

Problems solved by technology

At present, there have been a lot of research work on the platoon driving control of heavy trucks, but there are still some deficiencies. The speed and maintaining the desired inter-vehicle distance are the control objectives, and the control quantity is determined to act on the vehicle, and the vehicle speed is changed after passing through the transmission system. However, in this process, the controller of the adjacent vehicle in front has also determined the control quantity, so The speed of the adjacent vehicle in front changes from the current moment to the next moment, which will cause a certain deviation in the speed of the adjacent front and rear vehicles, and as time continues to grow, the accumulation of errors will gradually increase. make an impact

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