一种基于历史路径的智能场面车辆编队跟随控制方法
By recording the historical paths of the lead vehicle and constructing a linear error model, combined with a linear model predictive controller, the problem of smooth following of the autonomous vehicle fleet in lateral scenarios such as turning was solved, achieving the stability and safety of the formation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIHANG UNIV
- Filing Date
- 2024-07-24
- Publication Date
- 2026-07-17
AI Technical Summary
Existing autonomous vehicle fleet formation control methods struggle to achieve smooth driving in lateral scenarios such as turning, cannot adapt to nonlinear and rapidly changing characteristics, and cannot maintain the stability and safety of the formation when the trajectory of the unknown lead vehicle is unknown.
By recording the historical paths of the leading vehicle, a nonlinear vehicle kinematics model is constructed and linearized. Combined with a linear model predictive controller, a smooth following vehicle can be achieved when the trailing vehicle is on an unknown trajectory.
Under the unknown trajectory of the lead vehicle, it achieved smooth driving of the following vehicles and maintenance of the formation, enhancing the reliability and safety of the formation and adapting to the needs of lateral scenarios such as turning.
Smart Images
Figure CN118938917B_ABST