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Vehicle following servo control method and system based on forecast observer

A car-following and servo-control technology for vehicles, applied to control devices, complex mathematical operations, combustion engines, etc., can solve problems such as model errors and low-quality car-following behaviors, and achieve improved quality, high-efficiency car-following steady state, and increased autonomy The effect of intelligent and efficient tracking control capabilities

Pending Publication Date: 2022-05-27
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the existing research, there are many studies on car-following control of adaptive model predictive control, but the traditional car-following model linearizes the nonlinear model, which will inevitably produce model errors and the quality of car-following behavior is low

Method used

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  • Vehicle following servo control method and system based on forecast observer
  • Vehicle following servo control method and system based on forecast observer
  • Vehicle following servo control method and system based on forecast observer

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Experimental program
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Embodiment 1

[0083] The specific implementation steps of the patent of the present invention will be described in detail under the following assumptions.

[0084] assumed:

[0085] (1) The initial state parameters of the vehicle following system are: v p (0)=10m / s, v f (0)=5.5m / s, s p (0)=1000m, s f (0)=0m, d Actual (0)=1000m, d Safe (0)=849.80m.

[0086] (2) The calculation formula of dynamic safety distance is:

[0087]

[0088] Calculate the dynamic safe distance d Safe The mathematical model of the vehicle can be determined according to the performance of the front and rear vehicles or uniformly formulated by the industry sector of traffic management.

[0089] (3) The speed-time curve of the preceding vehicle is:

[0090]

[0091] In the formula, t represents time, the unit is second (s, second), v p (t) is the speed of the preceding vehicle, in meters per second (m / s); the position s of the preceding vehicle p , speed v p and control strategy a p It can be collected...

Embodiment 2

[0143] A vehicle following servo control system based on a forecast observer, comprising a processor and a memory, an executable program is stored in the memory, and the processor reads the executable program stored in the memory and runs it, so as to realize the description in Embodiment 1 A kind of vehicle following servo control method based on forecast observer.

[0144] where m f is the current rear mass, F Rf is the current resultant force that the following vehicle should take, f f For the resistance of the following car in the running, F f For the current traction or braking force that the vehicle behind should take:

[0145] the position of the car in front p , speed v p and control strategy a p It can be collected by the front vehicle and transmitted to the rear vehicle through wireless communication to calculate the dynamic safe distance d Safe The mathematical model can be determined according to the performance of the front and rear vehicles or uniformly fo...

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Abstract

The invention relates to a vehicle following servo control method and system based on a forecast observer, and a fully linearized servo control model based on the forecast observer is constructed from the aspects of dynamics and kinematics and is used for vehicle following behavior control. Compared with the prior art, the dynamic safe vehicle distance real-time tracking and the asymptotic convergence of the system state are organically combined, the rear vehicle can reasonably adjust the self behavior according to the error between the actual vehicle distance and the dynamic safe vehicle distance and the behavior change of the front vehicle, and safe, efficient and stable vehicle following operation is achieved; the synchronous control problem of real-time continuous adjustment of the car-following behavior and the actual car distance is solved, the autonomous intelligence and the autonomous adaptive capacity of the car-following system of the car can be remarkably enhanced, and the control level and the control quality of the car-following behavior and the actual car distance are effectively improved.

Description

technical field [0001] The invention relates to the field of traffic-following control of traffic systems, in particular to a completely linearized vehicle-following servo control model based on a forecast observer, and a vehicle-following servo control method and system implemented based on the model. Background technique [0002] Vehicle-following control has been studied for decades, and the early studies mainly focused on revealing the behavioral laws of vehicle-following and traffic flow. Existing models, such as GM (General Motors) model, Gipps model, OV (OptimalVelocity) model, IDM (Intelligent Driver Model) model, etc., focus on the study of dynamic characteristics of vehicle following behavior and the stability and stability of vehicle following behavior parameters. Convergence analysis aims to reveal the mechanism of vehicle following operation. On this basis, models such as vehicle safety distance tracking and bilateral control have been established successively t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/14B60W40/00B60W50/00G06F17/16
CPCB60W30/14B60W40/00B60W50/00G06F17/16B60W2050/0005Y02T10/40
Inventor 潘登陆润芝袁洪良
Owner TONGJI UNIV