The invention provides a vehicle track control method and device, electronic equipment and a storage medium, and the method comprises the steps: taking an intelligent network connection vehicle as a head vehicle, dividing a mixed vehicle team into a plurality of sub-vehicle teams, and enabling each sub-vehicle team to comprise one intelligent network connection vehicle and at least one full-manual driving vehicle; selecting a state variable, and establishing a state vector of the hybrid fleet according to the state variable; selecting a control variable, and establishing a fleet continuous time domain state transition equation based on the control variable, the vehicle kinematics model and the speed difference stress-reaction model; discretizing the continuous time domain state transition equation to obtain an augmented state equation; and establishing an optimization objective function, determining a constraint condition of the optimization objective function, and obtaining a vehicle track of the hybrid motorcade based on the optimization objective function and the constraint condition. According to the invention, cooperative control can be carried out on the driving of each vehicle in the hybrid motorcade composed of a plurality of intelligent network connection vehicles and a plurality of full-manual driving vehicles, and the traffic efficiency of the hybrid motorcade is improved.

    本发明提供了一种车辆轨迹控制方法、装置、电子设备及存储介质,其方法包括:以智能网联车辆作为头车,将混合车队划分为多个子车队,每个子车队均包括一个智能网联车辆和至少一个全人工驾驶车辆;选取状态变量,根据状态变量建立混合车队的状态向量;选取控制变量,并基于控制变量、车辆运动学模型以及速度差应激‑反应模型建立车队连续时域状态转移方程;对连续时域状态转移方程进行离散化,获得增广形式状态方程;建立优化目标函数,并确定优化目标函数的约束条件,基于优化目标函数以及约束条件获得混合车队的车辆轨迹。本发明可对由多个智能网联车辆和多个全人工驾驶车辆组成的混合车队中各车辆的行驶进行协同控制,提高了混合车队通行效率。


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    Title :

    Vehicle track control method and device, electronic equipment and storage medium


    Additional title:

    车辆轨迹控制方法、装置、电子设备及存储介质


    Contributors:
    HE SHUXIAN (author) / QIU ZHIJUN (author) / ANDERSY (author) / REN XUEFENG (author)

    Publication date :

    2022-04-22


    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




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