Multi-target adaptive cruise control method, device and equipment

Abstract

The invention discloses a multi-target adaptive cruise control method. The method comprises the following steps of: establishing a quadratic performance functional according to control input, controlinput increment and a regularization term under a process state constraint condition, a system I / O constraint condition and a motorcade constraint condition; acquiring the state parameters of a localvehicle and a vehicle in front of the local vehicle in real time; obtaining the expected acceleration increment of the local vehicle through the rolling online optimization prediction of the quadraticperformance functional according to the state parameters, obtaining an expected acceleration according to the expected acceleration increment; and controlling the local vehicle according to the expected acceleration increment to make the actual acceleration of the local vehicle converge at the expected acceleration. According to the method, control targets such as driver expected response, following safety and motorcade stability are comprehensively coordinated; an incremental control strategy is adopted, so that the working condition adaptive capacity of a motorcade can be effectively improved, and the overall quality of the motorcade is guaranteed. The invention further discloses a multi-target self-adaptive cruise control device, equipment and a computer readable storage medium which all have the same advantages as the control method.

Description

technical field [0001] The present invention relates to the technical field of adaptive cruise control, in particular to a multi-objective adaptive cruise control method; it also relates to a multi-objective adaptive cruise control device, equipment and a computer-readable storage medium. Background technique [0002] Early ACC (Adaptive Cruise Control, Adaptive Cruise Control) system design mainly meets the requirements of driving comfort and vehicle safety, and with the rapid development of ITS (Intelligent Transportation System, Intelligent Transportation System) system, using AHS (Automated Highway System , Automated Expressway) to enhance highway safety construction, alleviate traffic congestion and improve road traffic capacity has attracted great attention of researchers and automakers. [0003] At present, the CTH (constant time headway, constant time headway) strategy is generally adopted for ACC control of single vehicles. This strategy focuses on the time headway...

AI Technical Summary

Problems solved by technology

When the inter-vehicle distance preset is too small, it will cause psychological stress and discomfort for drivers and passengers, and also increase the potential for rear-end collision; It may induce uncivilized incidents such as merging and forced insertion of adjacent vehicles

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