Vehicle formation control method and system for guaranteeing traffic flow stability

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Vehicle formation control method and system for guaranteeing traffic flow stability

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BIAN YOUGANG / LI CHONGKANG / HU MANJIANG / QIN XIAOHUI / QIN ZHAOBO / XIE GUOTAO / WANG XIAOWEI / XU BIAO / DING RONGJUN

Abstract

The invention discloses a vehicle formation control method for guaranteeing traffic flow stability. The method comprises the following steps that step 1, 1-N numbering is performed on vehicles in a formation from front to back, wherein the first vehicle is a pilot vehicle, and the other N-1 vehicles are following vehicles; step 2, in a driving process, the pilot vehicle and each following vehiclei send own number, position, speed and acceleration information to at most m vehicles behind by using vehicle-mounted communication; step 3, each following vehicle i calculates an expected acceleration by utilizing the position, speed and acceleration information of the following vehicle i and the received at most m vehicles in front; step 4, each following vehicle is subjected to bottom layer acceleration and brake actuator control; and step 5, each following vehicle continuously repeats the steps 2-4. According to the vehicle formation control method for guaranteeing the traffic flow stability, an expected geometric configuration of the vehicle formation can be kept in presence of interference through communication among the vehicles.

本发明公开了一种保障交通流稳定的车辆编队控制方法，包括如下步骤：步骤1，将编队中车辆从前到后进行1～N编号，其中第1辆为领航车辆，其余N‑1辆为跟随车辆，步骤2，在行驶过程中，领航车辆和每个跟随车辆i利用车载通信将自身的编号、位置、速度、加速度信息发送至后方至多m个车辆；步骤3，每个跟随车辆i利用自身和所接收的前方至多m个车辆的位置、速度、加速度信息计算期望加速度；步骤4，每个跟随车辆进行底层加速与制动执行器控制；步骤5，每个跟随车辆不断重复上述步骤2～4。本发明的保障交通流稳定的车辆编队控制方法，可通过车辆之间的通信，在干扰存在下保持车辆编队期望几何构型。

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Document information

Title :

Vehicle formation control method and system for guaranteeing traffic flow stability

Additional title:

一种保障交通流稳定的车辆编队控制方法和系统

Contributors:

BIAN YOUGANG (author) / LI CHONGKANG (author) / HU MANJIANG (author) / QIN XIAOHUI (author) / QIN ZHAOBO (author) / XIE GUOTAO (author) / WANG XIAOWEI (author) / XU BIAO (author) / DING RONGJUN (author)

Publication date :

2020-04-21

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS