Vehicle cooperative adaptive cruise control method

Abstract

The embodiment of the invention provides a vehicle cooperation adaptive cruise control method, vehicles form a motorcade through a wireless network, and the method comprises the following steps: acquiring dynamics information of a first vehicle in the motorcade and dynamics information of a vehicle before the first vehicle; determining vehicle following reference information of the vehicle under various preset vehicle following strategies according to the dynamic information of the first vehicle in the vehicle team, the dynamic information of the previous vehicle of the vehicle and the dynamic transfer function of each vehicle and the first vehicle, the car-following reference information comprises driving control parameters and a relation curve of the car under various communication time delays in each car-following strategy, and the relation curve comprises corresponding minimum driving distances required for meeting driving stability under various communication time delays; and selecting an optimal vehicle following strategy according to the communication time delay of the vehicle and the vehicle following reference information, and calculating control output for driving control according to the corresponding driving control parameters.

Description

technical field [0001] The present invention relates to the field of intelligent transportation, in particular to cooperative fleet driving in intelligent transportation systems, which can be applied to the longitudinal motion control of outdoor fleet driving systems, and more specifically relates to a method for cooperative adaptive cruise control of vehicles. Background technique [0002] The establishment and improvement of transportation facilities play an important role in promoting social development. However, due to the significant increase in traffic volume, some drivers do not drive according to regulations and other factors, there will be problems of traffic congestion and low traffic efficiency. [0003] Some researchers first proposed adaptive cruise control (Adaptive Cruise Control, referred to as ACC). Adaptive cruise control can sense the driving environment with the help of on-board sensors (such as radar, lidar or camera sensing system) and adjust it based o...

AI Technical Summary

Problems solved by technology

However, once the communication conditions are bad, the system can easily lead to instability, generate waves of speed disturbance, spread to the surroundings and cause traffic jams, etc.

However, the communication delay considered in the design of CACC is too large, and the driving gap that satisfies the stability achieved by such a system will not be optimal, reducing the throughput of the traffic system.

[0008] In general, the existing technology adopts a fixed car-following strategy and analyzes the minimum driving distance that satisfies driving stability under the range of conventional communication delay (mainly considering the maximum delay), so that each vehicle in the fleet can maintain the minimum driving distance The distance is the target for cruising, but the communication delay is changing, and the existing technology cannot effectively improve the road use efficiency according to the specific situation of the communication delay

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