The invention relates to a vehicle group formation transformation method based on a vehicle-road cloud cooperative control architecture, and the method comprises the steps: obtaining the road limitation information of a vehicle and a vehicle group state, and determining the position of a limited lane and the position of the vehicle; dividing the vehicle group into a plurality of sub-vehicle groups, and determining a formation planning area of the vehicle group; a cost function is designed to evaluate the adaptation degree between the vehicle and the target position, and a distribution matrix is designed to solve the matching relation between the vehicle and the target position meeting the preset optimal condition; designing a vehicle group cooperative controller according to the vehicle motion model, the communication model, the vehicle group cooperative control protocol and the vehicle dynamics model; and generating a formation change behavior result of the vehicle group according to the distance adjusting stage and the transverse lane changing stage. Therefore, the problem that the related technology excessively depends on a pure distributed or pure centralized strategy and neglects the research of a vehicle cluster with a non-fixed structure, high plasticity and relatively high formation adjustment flexibility in a multi-lane scene is solved.
本申请涉及一种基于车路云协同控制架构的车群队形变换方法,其中,方法包括:获取车辆的道路受限信息及车群状态,确定受限车道位置和车辆位置;将车群划分为多个子车群,确定车群的队形规划区;设计代价函数以评价车辆与目标位置之间的适配度,并设计分配矩阵以求解车辆与目标位置满足预设最优条件的匹配关系;根据车辆运动模型及通信模型、车群协同控制协议和车辆动力学模型设计车群协同控制器;根据间距调整阶段和横向换道阶段生成车群的队形变换行为结果。由此,解决了相关技术对纯分布式或纯集中式策略过度依赖,忽视了多车道场景下具有非固定结构、高可塑性以及较高编队调整灵活性的车辆集群研究的问题。
Vehicle group formation transformation method based on vehicle-road cloud cooperative control architecture
一种基于车路云协同控制架构的车群队形变换方法
08.04.2025
Patent
Elektronische Ressource
Chinesisch
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