The invention relates to the field of vehicle control, and particularly discloses a predicted acceleration-based queue vehicle control method and system and a vehicle, and the method comprises the steps: obtaining the current operation information of a controlled vehicle and front and back adjacent vehicles in a lane where the controlled vehicle is located; predicting the future position of the vehicle according to the current operation information of the vehicle, and obtaining a predicted position sequence of each vehicle in a predicted time domain; obtaining an expected distance sequence between the controlled vehicle and the front vehicle based on a vehicle distance control principle according to the predicted position sequence of each vehicle; obtaining an expected position sequence of the controlled vehicle according to the expected distance sequence; obtaining an expected speed sequence of the controlled vehicle according to the expected position sequence; obtaining an expected acceleration sequence of the controlled vehicle according to the expected speed sequence; and controlling an accelerator pedal and a brake pedal of the vehicle according to the expected acceleration sequence. The acceleration is planned based on the vehicle dynamic state to control vehicle operation, and the safety, economy and stability of queue vehicle driving are improved.
本发明涉及车辆控制领域,具体公开一种基于预测加速度的队列车辆控制方法、系统及车辆,获取被控车辆及其所在车道中前后相邻车辆的当前运行信息;根据车辆当前运行信息对车辆未来位置进行预测,获得预测时域内各个车辆的预测位置序列;根据各个车辆的预测位置序列,基于车辆间距控制原则获得被控车辆与前车之间的期望间距序列;根据期望间距序列获得被控车辆的期望位置序列;根据期望位置序列获得被控车辆的期望速度序列;根据期望速度序列获得被控车辆的期望加速度序列;根据期望加速度序列对车辆的油门踏板和制动踏板进行控制。本发明基于车辆动态状态规划加速度以控制车辆运行,提高队列车辆行驶的安全性、经济性和稳定性。
Queue vehicle control method and system based on predicted acceleration and vehicle
一种基于预测加速度的队列车辆控制方法、系统及车辆
2024-02-13
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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