The invention provides a bidirectional autonomous fleet control method. The method includes that controllers of the vehicles of a bidirectional autonomous fleet receive the vehicle controller running variables, including distance between the vehicles, the relative speed of the vehicles, and the acceleration speed of the vehicles, transmitted by the sensors at the front and rear ends of each vehicle; a structural mathematical model of the fleet is determined based on the structure of the bidirectional autonomous fleet; a vehicle dynamic model is determined based on bearing analysis; a fleet state space model is obtained based on the structural mathematical model of the fleet and the vehicle dynamic model, and the controller running parameters are solved based on the fleet state space model; the acceleration speed of the vehicles is solved based on the controller running parameters and the controller running variables; and the column of the vehicles is controlled based on the acceleration speed. The bidirectional autonomous fleet control method improves the stability of the autonomous fleet.
Bidirectional autonomous fleet control method
2015-12-16
Patent
Electronic Resource
English
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |