Vehicle cooperative adaptive cruise control method based on variable time gap and interval strategy

Abstract

The invention provides a vehicle cooperative adaptive cruise control method based on a variable time gap and interval strategy. A radar, a vehicle-mounted sensor and V2V (Vehicle-to-Vehicle) communication are used for determining a number of successive CACC (Cooperative Adaptive Cruise Control) vehicles which are in front of a current vehicle and are within a communication range of the current vehicle, and according to the number of the vehicles, different variable time gap strategies are adopted to determine an expected safe vehicle following interval, expected acceleration is then determined, and therefore, vehicle control is realized. The variable time gap of the invention flexibly changes along with the change of the speed of the current vehicle, a speed difference and the accelerationof a front vehicle, safety, vehicle following properties and a road traffic capacity in a driving process can be effectively balanced, in addition, vehicle cooperative driving can be controlled, a road traffic flow is improved, and journey time is shortened. Meanwhile, a vehicle speed change in the driving process is stable, and driving comfort can be improved.

Description

technical field [0001] The invention belongs to the field of intelligent transportation, and relates to a vehicle cooperative adaptive cruise control method based on a variable time gap (Variable Time Gap, VTG) spacing strategy. Background technique [0002] Automobile Adaptive Cruise Control (ACC) system is developed on the basis of traditional cruise control (Cruise Control, CC) system. The set control method automatically adjusts the speed of the vehicle to keep a proper safe distance between the vehicle and the vehicle in front. The ACC system can improve driving safety and driving comfort, and reduce traffic accidents caused by driver's human negligence and operation errors. [0003] On the basis of ACC technology, thanks to the development of in-vehicle wireless communication technology, Cooperative Adaptive Cruise Control (CACC) is gradually becoming a research hotspot. Through Vehicle-to-Vehicle (V2V) communication technology Realize the information transfer of mul...

AI Technical Summary

Problems solved by technology

The CTH strategy is a spacing strategy widely used in the current ACC / CACC system. There is a linear relationship between the expected vehicle spacing determined by the CTH strategy and the vehicle speed, and the headway is constant. CTH strategy underperforms

The literature "B.vanArem, H.Driever, et al. Design and evaluation of an integrated full-range speed assistant. Delft: TNO report, 2007-D-R0280 / B, 2007." designed two control methods, respectively considering The position and speed information of multiple vehicles, but it does not involve the position and speed information at the same time, nor does it involve the acceleration information of multiple vehicles, nor does it involve the communication delay of vehicles. In practice, the delay of V2V communication always exists, and vehicle communication Latency and communication uncertainty have a significant impact on the stability and dynamic performance of vehicle coordination systems

Images