Highway vehicle homogeneous/heterogeneous formation driving control method

Abstract

The invention discloses a highway vehicle homogeneous / heterogeneous formation driving control method. According to the method, formation driving is realized based on control logic which is representedby wish decision, uniform heterogeneity judgment, queue numbering, vehicle coordinated lane change and steady driving. A head vehicle, used as a decision-making vehicle, sends a formation request tothe other vehicles, and receives the formation wills of the other vehicles and decides formation; the head vehicle judges whether a formation is a homogeneous formation or a heterogeneous formation bymeans of the quantitative calculation of the formation vehicles, and applies different numbering mechanisms respectively; and each vehicle judges whether the vehicle itself or the vehicle ahead needslane change according to the homogeneous formation, the heterogeneous formation, the states of the vehicles and dynamics information, and performs lane change when reaching a safety distance. According to the highway vehicle homogeneous / heterogeneous formation driving control method of the invention, the vehicles are numbered according to the homogeneous / heterogeneous property of the formation ina highway formation process, and the stable operation of the vehicles in the formation is ensured; a virtual mode in which the vehicles form a formation in a predicted manner is adopted to divide adjacent two vehicles into one group of planned trajectories, and therefore, the complexity of the formation can be greatly simplified, and the efficiency of the formation can be improved.

Description

technical field [0001] The invention relates to the field of intelligent transportation, in particular to a novel vehicle formation driving strategy on expressways. Background technique [0002] With the rapid development of my country's economy and the continuous increase of vehicle ownership, a series of social problems have also been brought about. For example, the rapid increase in the number of vehicles has caused environmental pollution, excessive use of fossil fuels, and frequent traffic accidents. For the above social problems, the development of new energy vehicles and the improvement of highway traffic efficiency are effective ways to save energy. [0003] Vehicle formation driving can effectively shorten the following distance, reduce fuel consumption caused by air resistance, and improve road traffic efficiency. With the rapid development of intelligent driving technology, more and more scientific research institutions and automobile manufacturers are vigorousl...

AI Technical Summary

Problems solved by technology

However, the methods for vehicle formation in the prior art mainly focus on tracking the adjacent vehicles in front of the formation vehicles. This method only considers the situation where the dynamic characteristics of the vehicles are the same, but this method is not suitable for vehicles with relatively different dynamic characteristics. In large-scale formations, if this method is still used, the stability of the vehicles will be poor when the formation ends and the platoon is formed, which will lead to safety problems in platooning.

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