129 results about "Car following" patented technology

The invention discloses an intelligent automobile longitudinal driving assistance system based on driving characteristics. The intelligent automobile longitudinal driving assistance system comprises a driver state and environment sensing module, a driver characteristic real-time identification module, an intelligent decision-making and mode switching module and a style self-adaption longitudinal control module. The driver state and environment perception module analyzes environment information and driving behavior characteristics by constructing an extended intelligent driver model, and defines acceleration deviation to perform driving style clustering. And the driver feature real-time identification module deploys the BP neural network model in an online system to realize real-time identification of the driving style. The intelligent decision-making and mode switching module intelligently assesses risks in combination with driving styles and environment information, and dynamically switches four modes of cruise control, car following, early warning and emergency braking. And the style self-adaptive longitudinal control module adaptively adjusts a control strategy according to the driving style and the expected acceleration, and converts the expected acceleration into driving torque or braking pressure through a dynamic weight mechanism, so that personalized longitudinal control is realized.

The invention provides a following vehicle locking man-machine interaction method and device, electronic equipment, a vehicle and a medium, and the method comprises the steps: obtaining the real-time sensing data of the surrounding environment of the vehicle, and generating and displaying the other vehicle identifier corresponding to the other vehicle in the surrounding environment on the intelligent driving sensing picture of the own vehicle according to the real-time sensing data; the other car identification comprises a locking car following touch control identification used for indicating the self car to lock the car following relative to the other car; touch operation received by the locking and following touch identification is detected in real time, the other vehicle corresponding to the touched locking and following touch identification is determined as a target vehicle, and a control instruction of locking and following of the own vehicle relative to the target vehicle is generated; and according to the vehicle attribute of the target vehicle and the real-time vehicle information, controlling whether the vehicle is locked according to the control instruction to follow the target vehicle to run. According to the human-computer interaction method for locking the following car, the driving safety is ensured while the individuation degree of the intelligent driving system is improved, so that the user experience of automatic driving is improved.

The invention relates to a personalized automatic lane changing and speed control driving collaborative decision-making method. The method comprises the following steps: S1, constructing a personalized decision-making hierarchical framework; s2, building a lane change decision training network, determining an optimization target of a lane change decision, introducing an action shielding mechanism to eliminate potential safety hazards of dangerous actions, setting an upper-layer state space, an action space and a lane change reward function required by training, and endowing the lane change reward function with personalized weights; s3, building a car-following decision training network, determining an optimization target of a car-following decision, quantizing the optimization target into a reward coefficient, setting a lower-layer state space, an action space and a car-following reward function required by training, and endowing the car-following reward function with personalized weights; and S4, a collaborative decision method is adopted, coupling training of the lane changing decision training network and the car following decision training network is carried out, and style reward priority experience playback is established to enrich experience playback priority measurement. Compared with the prior art, the method has the advantages of improving the safety and the driving efficiency of the vehicle and the like.

This technology provides designs and methods for the vehicle on-board unit (OBU), which facilitates vehicle operations and control for connected automated vehicle highway (CAVH) systems. OBU systems provide vehicles with individually customized information and real-time control instructions for vehicle to fulfill the driving tasks such as car following, lane changing, route guidance. OBU systems also realize transportation operations and management services for both freeways and urban arterials. The OBU composed of the following devices: 1) a vehicle motion state parameter and environment parameter collection unit; 2) a multi-mode communication unit; 3) a location unit; 4) an intelligent gateway unit, and 5) a vehicle motion control unit. The OBU systems realize one or more of the following function categories: sensing, transportation behavior prediction and management, planning and decision making, and vehicle control. OBU is supported by real-time wired and / or wireless communication, the power supply networks, the cloud, cyber safety, security services, and the human machine interface.

The invention provides a train positioning method and system based on Beidou navigation and inertial navigation, and the method comprises the steps: arranging a Beidou positioning terminal and inertial navigation equipment on a train, enabling the Beidou positioning terminal to operate independently of vehicle-mounted automatic protection equipment of the train, enabling the Beidou positioning terminal to be connected with the vehicle-mounted automatic protection equipment, and enabling the inertial navigation equipment to operate independently of the vehicle-mounted automatic protection equipment; the Beidou positioning terminal is used as an input source of the vehicle-mounted access unit; satellite positioning data of the Beidou positioning terminal are converted into signal electronic map position information through vehicle-mounted automatic protection equipment; when the train passes through an area in which the satellite signal is lower than a preset signal threshold value, performing auxiliary maintenance on the position information of the signal electronic map through inertial navigation equipment to obtain updated position information of the train; the updated position information is transmitted to the ground based on the vehicle-mounted access unit, so that the ground carries out movement authorization calculation on the train and a rear train of the train based on the updated position information; according to the invention, the train positioning precision can be improved.

The invention discloses a vehicle following model and acceleration optimization method considering a front vehicle lateral offset effect in an Internet of Vehicles environment, and belongs to the field of intelligent traffic, and the method comprises the steps: introducing a rearview effect, the front vehicle lateral offset effect and multi-front vehicle speed information on the basis of a full-speed-difference following model, establishing a car-following model considering the lateral deviation effect of the front car in an Internet of Vehicles environment; performing linear stability analysis and nonlinear analysis on the car-following model to obtain a neutral stability condition and a coexistence condition; the simulation verification can describe the car following behavior considering the lateral deviation in the car networking environment, and reveal the operation mechanism of the networked vehicle in the traffic system. Besides, whether a driving safety gain factor and a motion synchronization gain factor are introduced to update the car-following model or not is judged based on driving safety identification and motion state synchronization identification conditions of the car-following vehicle, the acceleration of the car-following vehicle at the next moment is optimized, and the car-following vehicle can run in a safer and more efficient car-following mode on the road.

The invention discloses a variable curvature complex road condition mixed traffic flow-oriented CAVs car-following queue forming method. The method comprises the steps of obtaining state information of confluence CAVs and a confluence center of an initial CAVs queue; performing confluence scene division according to the state information of the confluence CAVs; for the collaborative lane-changing confluence scene, establishing a collaborative lane-changing game model considering the compromise degree of a human driver based on the confluence CAVs, the confluence center and the position state of HVs in the confluence direction, and generating a collaborative lane-changing confluence decision; for an overtaking lane-merging confluence scene, generating an initial confluence track based on road surface information by using a dynamic programming algorithm; constraining the initial confluence trajectory through a double-layer quadratic programming algorithm to generate an overtaking lane-merging confluence decision; and the confluence CAVs complete confluence through a collaborative lane changing confluence decision or an overtaking lane changing confluence decision, and join the confluence into the initial CAVs queue to form a CAVs car following queue. According to the method, the influence of HVs and road conditions (environmental information) on the formation of the CAVs car-following queue in a mixed traffic scene is considered.

The invention discloses a car following control method and a related product. According to the scheme, multi-source data are acquired, and the multi-source data are fused to obtain a fusion result; based on the fusion result, performing multi-modal trajectory prediction on the driving behavior of the preceding vehicle to obtain a prediction result of the driving behavior of the preceding vehicle; the multi-modal trajectory prediction comprises longitudinal motion prediction and transverse motion prediction; quantifying a car following risk by using a multi-dimensional risk index to obtain a risk level; constructing a multi-target cost function based on the fusion result, the front vehicle driving behavior prediction result and a control vector, and solving the multi-target cost function by using a preset constraint condition to obtain an initial control parameter of the vehicle; and on the basis of the risk level, initial control parameters of the vehicle are adjusted, and target control parameters of the vehicle are obtained. Compared with the problem of response lag in adaptive cruise control in the prior art, the adaptive cruise control method has obvious advantages.

The invention relates to the technical field of automobile control, in particular to a car following control method and system and a medium, and the car following control method comprises the steps that a target car which can be followed by a current car is recognized according to the real-time car state, the surrounding environment state and the traffic participant state; presenting the following state of each target vehicle based on the information of the target vehicle which can be followed by the current vehicle; configuring a following mode responding to the user instruction; and when the following mode of the user instruction is responded, the vehicle is planned and controlled to follow the target vehicle to realize the driving behavior, and the driving behavior at least comprises the following target trajectory tracking and the vehicle trajectory planning. The user can be assisted in controlling the vehicle to follow the dynamic target vehicle designated by the user to dynamically drive, and the experience of the user in the using process of the intelligent driving assistance function is improved.

The invention discloses an intelligent networked vehicle following optimization and cooperative lane changing method for improving a safety potential field, and the method comprises the steps: enabling a vehicle to obtain the information of a target lane and the information of a current lane, and achieving the safety following control of a traffic flow; the vehicle generates a lane changing intention at first, the vehicle calculates and identifies all possible lane changing gaps and safety gaps needed for evaluating lane changing and judges whether the safe lane changing gaps exist or not, if yes, the optimal lane changing gap is selected from the safety gaps, and the vehicle starts to execute lane changing operation; if not, calculating the number of previous lane changing cooperative vehicles of the selectable lane changing gap, selecting the lane changing gap needing the minimum number m of cooperative acceleration vehicles, and establishing an m threshold condition based on the actual situation of the traffic flow; the invention emphasizes safety and cooperation, provides a new improved safety potential field lane changing model based on a traditional safety potential field theory, improves a traditional lane changing control mode, and further realizes safe and efficient car following and lane changing.

The invention discloses a vehicle following cruise method, device and equipment based on acceleration control, and relates to the technical field of intelligent driving, and the method comprises the steps: obtaining the speed of a vehicle, obtaining a target inter-vehicle distance according to the speed of the vehicle and a preset inter-vehicle time distance, and obtaining a relational graph of the speed of the vehicle and the target inter-vehicle distance; obtaining a relational graph of the inter-vehicle distance and the target relative speed according to the relational graph of the vehicle speed and the target inter-vehicle distance; obtaining the speed of a front vehicle and the actual distance between vehicles, and obtaining the actual relative speed according to the speed of the vehicle and the speed of the front vehicle; according to the actual relative speed, the actual vehicle-to-vehicle distance and a relation graph of the vehicle-to-vehicle distance and the target relative speed, vehicle following acceleration is obtained; and controlling the vehicle to carry out vehicle-following cruise according to the vehicle-following acceleration. The vehicle following acceleration is obtained by introducing the target inter-vehicle distance and the target relative speed, and the vehicle is controlled to carry out vehicle following cruise according to the vehicle following acceleration, so that the robustness of the vehicle following method is improved.

The invention relates to the field of vehicle control, in particular to a vehicle following control method, device and equipment based on a rainy environment and a medium. The method comprises the following steps: firstly, detecting whether the self-adaptive cruise function of the vehicle is started at present, and if so, further obtaining the driving state of the current following vehicle of the vehicle; when the following vehicle is in a static state, the vehicle is controlled to enter a static activation state, and a rain sensing control signal of the vehicle in a rainy environment and corresponding signal duration time are obtained; then, the state holding time of the vehicle in the stationary activated state is updated according to the rain sensing control signal and the signal duration. After the state holding time is reached, the vehicle enters a stationary waiting state from a stationary active state. Under the condition, even if the camera perceives and recognizes inaccurately or jumps due to the influence of rainstorm, the vehicle cannot be started immediately, but is in a static waiting state to wait for further confirmation and operation of a driver. Therefore, the risk that the vehicle collides with the front vehicle when the vehicle is started after being parked is reduced.

The invention discloses a control method for an unmanned mining truck to automatically return to a maintenance point, and the method comprises the steps: S1, enabling an information interaction module to carry out the information interaction with a mining area master control platform, and submitting fault information when a mine truck A breaks down; s2, after receiving the fault information of the mine car A, the mine area master control platform judges whether the following running condition is met, and if the following running condition is met, any normally running mine car B near the mine car A is dispatched; s3, the mine truck B goes to the front of the mine truck A after obtaining the instruction of the mine area master control platform; s4, the mining area master control platform calculates a route and issues a car following instruction; s5, after receiving the information of the mining area master control platform, the mine truck A and the mine truck B run to a maintenance point according to the calculated route; and S6, after the mine truck A and the mine truck B arrive at the maintenance point, the task is ended. The method solves the current situation that the vehicle can only be controlled to return to the maintenance point through manual intervention after a fault occurs, so that the construction operation is more intelligent, and the labor cost is lower.

The invention provides a vehicle sliding energy recovery method and device, equipment and a storage medium, and the method comprises the steps: obtaining vehicle following parameters of a target vehicle when it is detected that the target vehicle enters a sliding state; the car following parameters are input into a strategy network model used for determining the target regenerative braking torque of a target vehicle motor, so that the target regenerative braking torque output by the strategy network model is obtained; and controlling the target vehicle motor to output the target regenerative braking torque so as to recover the vehicle sliding energy. By adopting the technical scheme provided by the invention, collaborative optimization of the sliding energy recovery efficiency and the driving smoothness is realized.

The invention discloses an ACC vehicle-following target determination method, system and device and a vehicle, and the method comprises the steps: detecting a candidate vehicle-following target in front of a current vehicle, and obtaining the vehicle information of the candidate vehicle-following target; based on the current vehicle width, a first distance and the vehicle information, a corresponding first overlapping value and road gap information are obtained, and the first distance is the transverse distance between the current vehicle and a lane line where the current vehicle is located; a corresponding second overlapping value is obtained based on the current vehicle width, a second distance and the vehicle information, and the second distance is the transverse distance between the current vehicle and the candidate vehicle following target; and inputting the first overlapping value, the road gap information and the second overlapping value into a target screening model, and determining a vehicle following target. According to the invention, the ACC car following target can be accurately determined, and the riding experience of the user is improved.

The invention provides an intelligent vehicle following method and system, and the method comprises the following steps: obtaining the driving environment information of a vehicle in real time, carrying out the visual display, and recognizing a driving region and a vehicle which can be followed in the displayed driving environment information of the vehicle; receiving a trigger instruction, and taking the selected vehicle capable of being followed as a target following vehicle; automatically generating a vehicle-following strategy according to the position information of the lane where the target vehicle-following vehicle is located, the vehicle on the lane, the traffic marker and the obstacle information; and a corresponding control instruction is generated based on the vehicle following strategy to automatically control the vehicle to execute acceleration and deceleration, lane changing and overtaking processing, and vehicle following driving of the vehicle relative to the target vehicle following vehicle is completed. According to the method, the travelable area and the vehicle which can be followed are divided for the user to select, in the process, the user only needs to give the vehicle selection instruction which can be followed, the vehicle which needs to be followed is selected, the system follows the generated moving track to automatically complete vehicle following, and the vehicle following mode is more flexible.

The invention discloses an automatic driving vehicle path planning method based on a remote sensing image, and relates to the technical field of image recognition. The method comprises the following steps: an edge server pre-processes an original remote sensing image collected by an unmanned aerial vehicle and received in real time; analyzing the preprocessed remote sensing image, identifying roads and vehicles in the remote sensing image, and marking the vehicles as CAV vehicles and HDV vehicles; constructing a vehicle kinetic equation, analyzing the traffic flow, and selecting a car-following model or a lane changing model; after the lane changing model is selected, the automatic driving vehicle carries out rasterizing processing on the road ahead, and the optimal path of migration to a target grid is calculated. According to the method, through cooperative processing of the unmanned aerial vehicle remote sensing image and edge calculation, the global view of the autonomous vehicle is improved, the unmanned aerial vehicle can accurately obtain a long-distance road topological structure and dynamic obstacle distribution, and planning lag or decision errors caused by a local view blind area are avoided.

The invention provides a following driving method, system and equipment for a heavy commercial child-mother vehicle based on inter-vehicle communication, and belongs to the technical field of commercial child-mother vehicles, the mother vehicle starts a predictive self-adaptive cruise function, and the child vehicle starts a following mode. The mother vehicle obtains speed limit and curvature information through a map and carries out dynamic planning in combination with the state of the mother vehicle. The child car receives the operation information of the mother car in real time through the DSRC technology and corrects the air resistance coefficient of the child car according to the distance between the cars. The child car determines a safe car-following distance according to the car speed, the load difference and the ramp, and the torque demand of the child car is calculated through an inverse dynamics model based on the mother car state. The sensor is kept coincident with the longitudinal center line of the mother vehicle, and the steering angle is calculated when transverse deviation occurs. And the child vehicle also performs smooth processing on the deceleration of the mother vehicle, and sends torque, steering and deceleration requests to the execution unit. According to the invention, the driving safety is improved, the fatigue strength of a driver is reduced, and safe exit during communication interruption is ensured.

The utility model relates to the technical field of cable hanging devices, and discloses a cable hanging device for car following of a tunneling roadheader, which comprises a sliding rail, an adjusting and locking device is arranged on the surface of the sliding rail, a hanging and mounting device is arranged on the surface of the adjusting and locking device, and a cable hanging device is arranged on the hanging and mounting device. The adjusting and locking device comprises a sliding plate, a magnetic attraction limiting U-shaped frame, an inner magnet sliding block, a bearing, a rotating shaft rod, an inner end sliding plate, a bearing plate, a top end positioning plate, a holding block, an inserting block, a butt joint inserting groove and a connecting plate. According to the cable hanging device for car following of the tunneling fully-mechanized coal winning machine, by arranging an adjusting locking device, a penetrating groove in an inner end sliding plate is aligned with a butt-joint inserting groove, a holding block is held to insert an inserting block into the corresponding butt-joint inserting groove and the penetrating groove for limiting connection, and the purposes of positioning and fixing are achieved after adjustment; and during adjustment, the magnetic attraction assembly is arranged to increase the limiting strength, sliding stability is ensured, a positioning and fixing structure is arranged after adjustment, and use is convenient.

The invention discloses suspension bridge steel box girder bridge floor dismantling equipment and method based on fine planing and milling, the equipment comprises a vehicle body, the bottom of the vehicle body is connected with a crawler belt through a hydraulic cylinder, a hydraulic rod is arranged at the bottom of the vehicle body, and a slag conveying device is arranged on the advancing side of the vehicle body; the milling mechanism comprises a fixed frame, a lifting plate and a milling device; the monitoring mechanism comprises a sliding frame, a protection frame, a hardened steel wheel, a first rack and a second gear; the marking mechanism comprises a sliding sleeve, a fixed block, a second rack and a sixth gear; and the lifting motion of the sliding sleeve is controlled by the lifting of the hardened steel wheel through the meshing of the second rack and the sixth gear. The conical head is used for knocking the ground to form a hole, marking liquid flows into the hole, a car following person can conveniently find and stop milling operation in time, the damage condition of the tool bit is found in time, the situation that the damaged tool bit is continuously used for milling is avoided, the milling quality is greatly improved, and the service life of equipment is greatly prolonged.

A method may include receiving training data comprising a time series of gaps between an ego vehicle and one or more lead vehicles at a plurality of time steps, embedding the training data into a fixed-length sequence, inputting the fixed-length sequence into a Transformer-RNN model comprising a Transformer component and an RNN component, wherein the transformer component applies attention to each data point of the fixed-length sequence based on a fixed number of previous inputs, and training the Transformer-RNN model, using the training data, to output a predicted gap at a future time step based on an input sequence of gaps.

The application discloses a kind of driver real-time state perception's car-following behavior intelligent modeling method and system, specifically including the following steps: (1) data acquisition, the driving data of vehicle in actual road is collected, the data needed to be acquired include the speed of current vehicle and front vehicle, position change information and the change information of relative distance;(2) data screening and processing, the data obtained in step (1) are screened, and the vehicle historical data with following characteristics on a road are selected;(3) the corresponding simulation environment is constructed in Matlab by method;(4) by the following state transformation method, the real driving situation of driver is simulated by constantly changing state in Matlab simulation environment.The method considers human factors in car-following model, so as to ensure the accuracy of car-following.

The invention provides a car following control method, a computer program product and electronic equipment, according to the car following control method provided by the invention, target related information of a current car following target of a car can be acquired; if the current car-following target of the car and the historical car-following target of the car belong to the same object and the preset comfortable braking condition of the car is met, smoothing processing can be carried out on the original longitudinal distance between the current car-following target and the car in the target related information; the target longitudinal distance between the current car following target and the car is obtained.

The invention discloses an automatic driving test method and system. Belongs to the technical field of automatic driving testing. According to the method, a high-fidelity virtual environment is constructed by collecting real scene data, and a virtual sensor is configured; mapping the real track to a virtual space, and generating a dynamic traffic flow in combination with a car following and lane changing model; after the real vehicle and the virtual intelligent agent are synchronously initialized, the real vehicle runs in the physical field and periodically updates the state; the virtual traffic flow is dynamically evolved according to the state of the main vehicle, and the virtual sensor senses the target in the field of view and generates a virtual sensing result; real sensor data is used as a reference, and virtual and real perception information is fused to form unified input; and circularly executing until the task is completed, wherein each virtual agent only participates in one test. According to the scheme, high-reality and high-efficiency closed-loop testing is achieved, the defects of a traditional method in the aspects of scene richness and testing safety are overcome, and the reliability and repeatability of verification of the automatic driving system are improved.

The invention provides a following vehicle control method, electronic equipment and a computer readable storage medium, and the following vehicle control method comprises the steps: responding to a received instruction for switching a current vehicle following mode to a target vehicle following mode, obtaining a first parameter of a following vehicle in the current vehicle following mode and a second parameter of the following vehicle in the target vehicle following mode, wherein the first parameter and the second parameter are used for describing different driving styles of the following vehicle in the intelligent queue; adjusting the first parameter to the second parameter within a preset time so as to complete the switching from the current car following mode to the target car following mode; and controlling the following vehicle to run according to the second parameter. Through the method and the device, the problem that the intelligent queue in the related technology cannot maintain relatively high formation probability and good riding experience at the same time is solved, and the technical effects of reducing the probability that the intelligent queue is damaged and improving the riding experience are achieved.

The invention provides a vehicle-following target determination method and device, electronic equipment and a computer readable storage medium, and relates to the technical field of intelligent driving, and the method comprises the steps: obtaining a lane changing behavior of a first vehicle under the condition that the first vehicle has a lane changing direction, determining a lane changing state of the first vehicle and a target lane into which the first vehicle needs to be driven, determining a position relation of a second vehicle in front of the first vehicle relative to the target lane; and determining a target tracking vehicle of the first vehicle from the second vehicles according to the lane changing behavior, the lane changing state and the position relationship. According to the invention, the accuracy and smoothness of vehicle following target switching can be improved during automatic driving of the vehicle.

The present invention belongs to the technical field of intelligent assisted driving, and specifically relates to an autonomous following vehicle control system and method based on the running trajectory of a target vehicle, comprising: a perception module, used to obtain vehicle characteristics and driving status of a vehicle in front of a current vehicle; an instrument module, used to obtain driving status information of the current vehicle; a body stability control module, used to obtain posture information of the current vehicle; an intelligent driving module, which is respectively connected to the perception module, the instrument module and the body stability control module, identifies whether the vehicle in front is a target vehicle according to the acquired vehicle characteristics, obtains the running trajectory of the vehicle in front according to the acquired driving status information, and obtains the control amount of a wire-controlled chassis actuator of the current vehicle in combination with the current driving status information and the posture information; an execution module, which is used to control the execution amount of the wire-controlled chassis actuator of the current vehicle, and feeds back the actual status information of the wire-controlled chassis actuator of the front vehicle according to the control amount and the execution amount.

The invention discloses a car following track generation method and device, and the method comprises the steps: obtaining a first predicted driving track of a current car and a second predicted driving track of a target front car in an automatic driving mode; performing near-end point taking processing on the first predicted driving track to obtain position information of a plurality of near-end control points; performing far-end point taking processing on the second predicted driving track to obtain position information of a plurality of far-end control points; and according to the position information of each near-end control point and the position information of each far-end control point, determining a Bezier curve equation for predicting the following track of the vehicle in the future target duration. Therefore, the high-order Bezier curve is combined with a control point dynamic adjustment mechanism, and the vehicle following robustness can be improved. Meanwhile, part of control points are generated through the high-order Bezier curve and the predicted driving track of the vehicle, the smoothness of the vehicle following track under the complex road condition is improved, and the carsickness of passengers is reduced.

The invention belongs to the technical field of heterogeneous traffic flow modeling and intelligent traffic management, and relates to a heterogeneous traffic flow macroscopic fundamental diagram experimental modeling method considering takeover behaviors, which comprises the following steps of: firstly, performing stage division on driving behaviors of L3-level man-machine co-driving vehicles, and selecting a car-following model; integrating TOV permeability and takeover rate, four typical car-following modes in heterogeneous traffic flow and a function degradation mechanism of cooperative adaptive cruise control to deduce theoretical scale models of vehicles of various models in the traffic flow. A joint simulation platform is built to restore a heterogeneous traffic flow scene, and a two-stage multi-cycle experiment process is designed to collect comprehensive traffic flow data under different density levels. Whether the experimental vehicle model proportion is matched with the theoretical vehicle model proportion or not is checked, and if yes, the improved Underwood model is used for fitting experimental data to obtain an experimental model of the macroscopic fundamental diagram. The method has the advantage that an accurate model basis is provided for heterogeneous traffic flow characteristic analysis and CAV cooperative control strategy formulation.