The invention relates to the technical field of vehicle marshalling, discloses a vehicle cooperative control method, device and equipment and a medium, and aims to analyze the running state information of a coupled marshalling vehicle by using a virtual coupled safety protection model to determine an expected vehicle distance and a planned speed of a following vehicle. And determining a real spacing distance and a speed difference according to respective positions and speeds of the leading vehicle and the following vehicle. Constructing constraint conditions based on the expected vehicle distance, the following vehicle planning speed, the real spacing distance, the speed difference, the following vehicle acceleration and the following vehicle acceleration increment; and analyzing the real spacing distance and the speed difference at the current moment under the constraint condition to determine the expected acceleration of the following vehicle. And updating the speed and position of the following vehicle according to the expected acceleration of the following vehicle. The virtual coupling safety protection model is adopted for analysis, multiple targets such as the vehicle distance, the speed and the acceleration are restrained, the more scientific and reasonable expected acceleration of the following vehicle is obtained, and the passing efficiency of the vehicle is improved.
本发明涉及车辆编组技术领域,公开了一种车辆协同控制方法、装置、设备和介质,利用虚拟联挂安全防护模型对联挂编组车辆的运行状态信息进行分析,确定出期望车间距和跟随车规划速度。根据领航车和跟随车各自的位置和速度,确定出真实间隔距离和速度差。基于期望车间距、跟随车规划速度、真实间隔距离、速度差、跟随车加速度以及跟随车加速度增量,构建约束条件;在约束条件下对当前时刻的真实间隔距离和速度差进行分析,以确定出跟随车期望加速度。依据跟随车期望加速度,更新跟随车的速度和位置。采用虚拟联挂安全防护模型进行分析,同时对车间距、速度和加速度多个目标进行约束,得到更加科学合理的跟随车期望加速度,提高了车辆的通行效率。
Vehicle cooperative control method, device, equipment and medium
一种车辆协同控制方法、装置、设备和介质
02.05.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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