A vehicle platoon control method and system considering economy
A platoon control and economical technology, which is applied in the field of vehicle platoon control methods and systems considering economics, and can solve problems such as optimizing economic performance, loss tracking performance, etc.
Active Publication Date: 2021-10-22
HUNAN UNIV
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[0004] In view of the deficiencies in the prior art, the purpose of the present invention is to overcome the problem of loss of tracking performance while optimizing the economic performance of the existing solutions, and propose a vehicle platoon control method and system considering the economy
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[0018] The present invention will be described in further detail below in conjunction with the embodiments given in the accompanying drawings.
[0019] refer to Figures 1 to 2 As shown, a kind of vehicle platoon control method considering economy of the present embodiment comprises the following steps:
[0020] Step 1. Number the vehicle queues from front to back as 0, 1, 2, ..., N, among which 0 is the leading vehicle, which makes driving decisions autonomously according to the road conditions, and the rest are following vehicles, which are based on the positions of themselves and neighboring vehicles, speed and acceleration information for driving decisions.
[0021] Step 2. At any time t, each following vehicle i receives the previous r i Future N sent by neighbor vehicles p One-step prediction of hypothetical trajectories in the time domain And send its own hypothetical trajectory to the rear car.
[0022] Step 3, follow the vehicle i to predict the future N p The ...
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The invention discloses a vehicle platoon control method considering economy, which includes the following steps: Step 1, the vehicles are arranged in a longitudinal direction; Step 2, each following vehicle i sends the assumed trajectory information of the own vehicle in the future prediction time domain to the neighbor vehicle and Before receiving r i The hypothetical trajectory information of a neighboring vehicle; step 3, each following vehicle i takes the stable tracking target trajectory as the constraint condition, and takes the economy as the cost function, constructs and solves an optimization problem, and obtains a control with optimal economy in a period of prediction time domain Sequence; step 4, each following vehicle i applies the first element of the control sequence to the control of the ego vehicle; step 5, repeat steps 2-4 until the queue ends. The economical vehicle platoon control method of the present invention, through the setting of steps 1 to 5, can solve the control signal with the goal of optimizing economical efficiency under the premise of ensuring tracking stability, which helps to improve economical efficiency while reducing Loss of tracking performance.
Description
technical field [0001] The present invention relates to the fields of intelligent transportation systems and intelligent networked vehicles, in particular to a vehicle platoon control method and system considering economy. Background technique [0002] The continuous development of the Internet of Vehicles technology provides strong technical support for the optimization and upgrading of the highway traffic system. Vehicle-to-vehicle coordination technology is an important part of the intelligent transportation system. Through information exchange and collaborative control between vehicles, the safety and economy of the transportation system can be significantly improved. Vehicle platoon driving control is one of the application scenarios of vehicle-vehicle coordination technology. Through platoon control, the following distance can be shortened, traffic efficiency can be improved, fuel consumption rate and exhaust emissions can be reduced, and it has a significant empowerin...
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IPC IPC(8): B60W30/165B60W50/00
CPCB60W30/165B60W50/00B60W2050/0019
Inventor 胡满江李崇康边有钢谢国涛王晓伟秦洪懋秦晓辉徐彪秦兆博丁荣军
Owner HUNAN UNIV