Car-networking-based optimal linear control method and apparatus for cruise control system

Abstract

The embodiment of the invention provides a car-networking-based optimal linear control method and apparatus for a cruise control system. The method comprises: a queue of road vehicles is obtained, wherein the queue includes a manned vehicle and an automatic control vehicle. A queue system model is established; according to the queue system model, a vehicle cruise control optimization problem basedon a discrete time-domain closed-loop control state equation is constructed; and an optimization problem of vehicle cruise control is solved to obtain an optimal linear control strategy. According tothe car-networking-based optimal linear control method and apparatus, the dynamic information of vehicles is analyzed to construct the state equation of the overall queue system; and with consideration of influences of discrete system sampling time and the communication delay, an optimization problem is established and thus an optimal control strategy for automatic vehicle controlling is obtainedfinally. Therefore, the automatically controlled vehicle can reach an ideal vehicle speed and keep a safety space with a vehicle in front of the automatically controlled vehicle; and the stability ofthe control system is guaranteed.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of automatic control, and in particular to an optimal linear control method and device for a cruise control system based on Internet of Vehicles. Background technique [0002] Cruise control is an automatic control method for vehicles, which can effectively improve road traffic efficiency, reduce traffic accidents, and improve vehicle fuel economy. [0003] At present, there are adaptive cruise control (Adaptive Cruise Control, ACC) method and cooperative adaptive cruise control (Cooperative Adaptive Cruise Control, CACC) method etc. which are widely used. The adaptive cruise control method senses road information and other vehicle information through sensors, thereby adjusting and controlling the vehicle speed to maintain a safe distance from the vehicle in front. However, this method has poor stability and low accuracy, and when the sensor is disturbed, it will affect the performance...

AI Technical Summary

Problems solved by technology

However, in the CACC method, each vehicle in the queue needs to be equipped with sensors and controllers, and the communication topology is fixed. The stability of the system cannot be guaranteed when the road conditions and vehicle queues change, and it is difficult to apply in practice.

[0005] At present, there is no method that can adapt to changes in the actual vehicle queue and communication topology, so that the control vehicle can follow the speed of the vehicle in front while maintaining a safe distance between vehicles, while ensuring the stability of the system

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