Multi-dimensional cooperative control method and system for car-following of heterogeneous vehicle queue

Abstract

The invention discloses a multi-dimensional cooperative control method and system for heterogeneous vehicle queue following. The multi-dimensional cooperative control method comprises queue highest running vehicle speed control based on power assembly peak output power and vehicle states. The invention provides queue maximum travel acceleration control based on powertrain peak output torque and vehicle state. Heterogeneous vehicle brake pressure control based on brake system performance differences and vehicle states. Steering dynamic vehicle speed control based on heterogeneous vehicle yaw, roll stability differences, and road curvature. Based on the control, the driving dynamic performance of the front vehicle is limited, and the rear vehicle controls the driving, braking and steering systems of the rear vehicle according to the control instruction of the front vehicle and makes real-time adjustment according to the road condition information and the vehicle distance. According to the method, the limitation that the prior vehicle queue following technology needs homogeneous vehicles is solved, meanwhile, the heterogeneous vehicles are coordinated according to the vehicle state and the system performance, and the queue consistency, the driving safety and the turning stability in the heterogeneous vehicle following process are guaranteed.

Description

technical field [0001] The invention relates to the field of intelligent vehicle multi-vehicle platoon control, in particular to a multi-dimensional collaborative control method and system for platoon-following of heterogeneous vehicles. Background technique [0002] In the field of intelligent networked vehicles, when the destination of multiple vehicles is the same, the first vehicle (head vehicle) in the platoon can be implemented in manual driving or automatic driving mode, and the second vehicle and subsequent vehicles are all automatic The driving mode obtains and transmits the geographic location information and motion information of each vehicle through perception technology and network communication technology, so that the vehicles in the team can drive in a queue within a safe distance. The orderly driving queue does not need to consider the driver's reaction time, which can shorten the following distance and improve the traffic efficiency. There is no problem of ...

AI Technical Summary

Problems solved by technology

However, in reality, the platoon vehicles have obvious heterogeneous attributes, which are reflected in different models such as cars, trucks, and buses, as well as different power structures such as fuel vehicles, pure electric vehicles, and hybrid vehicles, with different braking systems and steering systems. mechanism, suspension anti-roll mechanism, etc., and there are time-varying factors brought about by mass changes and road gradient changes. If only homogeneous vehicle queues are considered, the modeling and control methods of the system will inevitably fail to reflect the actual situation. heterogeneous system characteristics

The difference in the performance of each functional assembly leads to inconsistent response of the rear vehicle to the driving command of the front vehicle. For example, the difference in mass or power system performance of the front and rear vehicles will lead to inconsistent acceleration response, resulting in uncoordinated car-following distance, and easy to mix with other vehicles. Vehicles; the difference in the quality of the front and rear vehicles or the performance of the braking system will lead to inconsistent braking response, the following distance and affect comfort, or rear-end collisions; the difference in vehicle structure or steering ability will make the lateral stability of the vehicle different, which will lead to Rolling, flicking or skidding occurs in the rear car with poor performance

The performance inconsistency of heterogeneous vehicles in the process of platooning and following can easily lead to a series of safety problems, and affect the handling stability and comfort of the vehicles behind

Images