Cooperative control method, device and equipment for hybrid heavy-duty lorry queue

Abstract

The embodiment of the invention provides a cooperative control method, device and equipment for a hybrid heavy-duty lorry queue, which can be applied to business scenes such as ports, ports, highway freight, urban distribution, mines, airports and the like, and comprises the following steps: acquiring real-time load mass of each vehicle in the queue, and constructing a vehicle energy consumption model containing kinetic energy recovery items according to the real-time load mass; on the basis of the energy consumption model and road gradient information obtained by look-ahead, the optimal pilot vehicle is dynamically determined with the goal of minimizing the global energy consumption of the queue; and finally, before the queue arrives at the ramp, an energy-saving control strategy is generated and executed, and the queue is indicated to complete collaborative driving configuration switching. According to the method, the factors of load, gradient and kinetic energy recovery are fused, so that refined and self-adaptive energy-saving control of the truck queue under real and complex road conditions is realized.