The invention belongs to the field of intelligent transportation, and relates to a vehicle-vehicle cooperative enhanced model prediction planning control method, which comprises a prediction model for modeling a controlled multi-temporal-spatial scale system and predicting system output within a prediction range; rolling optimization: determining an optimization period in rolling time domain optimization, and designing an optimal control problem by using a performance index, multi-element constraint and a system-level global planning solving instruction; feedback correction is carried out, an optimal regulation sequence is solved, the whole regulation sequence is obtained in the system and applied to first-step practical application of a multi-temporal-spatial-scale system, and the prediction range is moved forwards by one step; and sequence analysis: in the subsequent time-space domain optimization process of each section, analyzing the unit-level vehicle-to-vehicle cooperation regulation and control sequence through an analyzer, solving and converting the sequence into input of a bottom control unit, and accurately regulating and controlling the key vehicle transportation and driving process. The safety and stability, the adaptability to traffic flow changes and the ecological driving performance of key vehicles in the changed traffic flow are greatly improved.
本发明属于智能交通领域,涉及一种车车协同的强化型模型预测规划控制方法,包括:预测模型,对受控多时空尺度系统进行建模,用于在预测范围内预测系统输出;滚动优化,在滚动时域优化中确定优化周期,并利用性能指标、多要素约束与面向系统级全局规划求解指令设计最优控制问题;反馈校正,求解最优规控序列,在系统中获取整个规控序列应用于多时空尺度系统的第一步实际应用,并且预测范围向前移一步;序列解析,在后续每段时空域优化过程中,通过解析器解析单元级车车协同规控序列,求解转换为底层控制单元输入,对重点车辆运输行驶过程进行精确调控,极大地提升了重点车辆在变化交通流内部的安全稳定性、对交通流变化的适应性与生态驾驶性能。
Vehicle-vehicle cooperative enhanced model prediction planning control method
一种车车协同的强化型模型预测规划控制方法
10.09.2024
Patent
Elektronische Ressource
Chinesisch
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