Hybrid traffic flow automobile cooperative self-adaptive cruise control method based on automobile-to-automobile communication

Abstract

The invention discloses a mixed traffic flow automobile cooperative adaptive cruise control method based on automobile-automobile communication, and relates to the field of intelligent network connection automobile adaptive cruise. The method comprises the following steps: acquiring a BSM information set of a first vehicle (a manual driving vehicle), a front vehicle (an automatic driving vehicle) and a local vehicle (the automatic driving vehicle) in a vehicle following process in real time, and establishing a following motion model of two adjacent vehicles based on the BSM information set; establishing a front vehicle driving operation utility function under a first vehicle disturbance condition by utilizing a linear optimal quadratic theory, and predicting a front vehicle acceleration value at the next moment; and substituting the acceleration value of the vehicle before the next moment into the following motion model to obtain a predicted value of the acceleration of the vehicle, comparing the predicted value with an expected value to obtain an optimal control sequence of the vehicle, and performing adaptive cruise rolling control on the vehicle formation according to the optimal control sequence of the vehicle. According to the method, the controlled vehicle can respond to the change condition of the front vehicle more quickly, and the following performance and safety of the vehicle self-adaptive cruise control system are improved.

Description

technical field [0001] The invention relates to the technical field of automobile adaptive cruising, and more specifically relates to a vehicle-vehicle communication-based cooperative adaptive cruising control method for mixed traffic vehicles. Background technique [0002] Before the widespread use of intelligent connected vehicles, the traffic flow in the future will be a mixture of intelligent driving vehicles and artificial driving vehicles. Therefore, in the case of heterogeneous traffic flow, the adaptive cruise control of vehicles should fully consider the disturbance of artificial driving vehicles on intelligent driving vehicles. It is of great significance to improve traffic flow characteristics, improve road capacity and driving safety. [0003] Early adaptive cruise control systems mostly used PID control, sliding mode control, fuzzy control, etc., and then model predictive control has been widely used in adaptive cruise control systems due to its advantages of mu...

AI Technical Summary

Problems solved by technology

The above studies did not consider the driving intention and the amount of driving behavior when the vehicle in front is in the manual driving state when designing the vehicle control system, and the motion state of the vehicle in front during the car-following process will affect the stability of the self-adaptive cruise control process. have a significant impact on security

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