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Self-adaptive vehicle following method for auxiliary driving of electric automobile

A technology for assisted driving and electric vehicles, applied in the direction of control devices, etc., can solve problems such as the inability to achieve coordinated optimization of multiple indicators

Inactive Publication Date: 2019-03-19
UNIV OF SCI & TECH BEIJING
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  • Abstract
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide an adaptive car-following method for assisted driving of electric vehicles, so as to solve the problem in the prior art that the collaborative optimization of multiple indicators cannot be realized

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  • Self-adaptive vehicle following method for auxiliary driving of electric automobile
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  • Self-adaptive vehicle following method for auxiliary driving of electric automobile

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Embodiment Construction

[0079] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0080] Aiming at the problem that the existing cooperative optimization of multiple indicators cannot be realized, the present invention provides a Self-driving Electric Adaptive Tracking Control (S-EATC) method for assisted driving of electric vehicles.

[0081] like figure 1 As shown, the self-adaptive car-following method for assisted driving of an electric vehicle provided in the embodiment of the present invention includes:

[0082] S101. Establishing a Variable Time Headway (VTH) strategy according to the stability requirement of the inter-vehicle distance;

[0083] S102. Based on the time-to-vehicle time-variable strategy established in combination with the kinematic characteristics of the vehicle in the process of following the vehicle, establis...

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Abstract

The invention provides a self-adaptive vehicle following method for auxiliary driving of an electric automobile, which can achieve multi-objective collaborative optimization. The method comprises thefollowing steps of: establishing a variable vehicle changing-lane time distance strategy based on the stability requirement of the vehicle distance; based on the kinematic characteristics of a vehiclein vehicle following process in combination with establishment of the vehicle changing-lane time distance strategy, establishing a self-adaptive vehicle following dynamic model by taken a vehicle distance error, a relative speed, a vehicle accelerated speed and an accelerated change rate as state variable and output variable, taken expected accelerated speed as control variable and a front vehicle's accelerated speed as disturbance; and determining a prediction model based on model prediction control based on the established self-adaptive vehicle following dynamic model, wherein the prediction model is used for achieving collaborative optimization of a plurality of target indexes, and the target indexes comprise economy, safety and comfort. The invention relates to the technical field ofvehicle.

Description

technical field [0001] The invention relates to the technical field of automobiles, in particular to an adaptive car-following method for assisted driving of an electric vehicle. Background technique [0002] In recent years, before conducting research on adaptive control of assisted driving of electric vehicles, it is necessary to solve the problems of vehicle safety, comfort and economy caused by the following performance of the vehicle during driving. [0003] Adaptive car following is the most basic and important driving scenario for unmanned vehicles. The quality of car following performance directly affects the safety, comfort and economy of the vehicle. Although adaptive car following has been commercialized as the initial stage of unmanned driving, the collaborative optimization of multiple indicators (such as economy, safety, and comfort) still cannot be achieved in existing solutions. Contents of the invention [0004] The technical problem to be solved by the p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/16B60W50/00
CPCB60W30/16B60W50/00B60W2050/0034
Inventor 张卫冬艾轶博陈佳赵宏业孙畅张涛
Owner UNIV OF SCI & TECH BEIJING
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