Vehicle cooperative following method based on vehicle-to-vehicle communication

Abstract

The invention discloses a vehicle cooperative following method based on vehicle-to-vehicle communication. The method comprises the steps of (S1) collecting the driving data of a vehicle and the driving data of a front vehicle, (S2) establishing a variable time length safety distance model based on the driving data of the vehicle and the driving data of the front vehicle, (S3) establishing a vehicle cooperative following model based on the driving data of the front vehicle, the driving data of the vehicle and the variable time length safety distance model, and (S4) calculating an ideal acceleration of the vehicle according to the vehicle cooperative following model and transmitting the ideal acceleration to an actuator such that the actual acceleration of the vehicle changes following an ideal acceleration value. According to the method, through the vehicle-to-vehicle communication, the information of the front vehicle is obtained, the variable time length safety distance model considering the information of the front vehicle is established with the combination of the driving information of the vehicle, the ideal acceleration is transmitted to a vehicle dynamics model, a throttle and a brake are controlled such that the actual acceleration of the vehicle changes following the ideal acceleration value, the maintenance of an ideal distance between vehicles is achieved, the vehiclestably and reliably drives following the front vehicle, and the driving safety is improved.

Description

technical field [0001] The invention belongs to the field of intelligent transportation, and in particular relates to a vehicle cooperative following method based on vehicle-vehicle communication. Background technique [0002] With the rapid growth of the number of people using cars, cars have caused some problems such as traffic pressure, traffic accidents, and congestion. Vehicle coordination that has emerged in recent years is a new way to solve some traffic problems. In the process of vehicle coordination, the vehicle can not only collect various information during the driving process based on its own sensors, but also perceive other vehicles around it through vehicle-to-vehicle communication. The status information of vehicles realizes the interaction and sharing of information between vehicles, provides auxiliary information for drivers, and facilitates the creation of a safer traffic environment. The vehicle cooperative following method based on vehicle-to-vehicle co...

AI Technical Summary

Problems solved by technology

[0004] However, in the existing vehicle cooperative following methods, the vehicle model is mostly simplified to a particle or a vector, ignoring the control and dynamic characteristics of the vehicle, focusing on theoretical research, and the actual operation effect cannot be known.

On the other hand, the safety distance in the vehicle cooperative following method is mostly calculated based on the fixed time headway, which is not flexible enough to meet the needs of vehicles in actual driving.

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