The invention discloses a vehicle adaptive cruise method based on vehicle speed planning, which comprises the following steps that: a vehicle receives a satellite signal to determine a current position, and obtains the altitude and speed limit data of a front road; an n-order Bezier function is constructed, and a vehicle speed curve of the vehicle speed relative to the road position is generated through the Bezier function; an evaluation function of the vehicle speed curve is constructed, and constraints are established; a wild horse optimization algorithm is improved, and Gaussian distribution is introduced to generate an initial population and an individual position updating strategy based on Levy flight so as to improve the global search capability and the convergence speed; inputting the Bezier function and the evaluation function into an improved wild horse optimization algorithm, and finally outputting an optimal cruise speed curve; based on the optimal cruise speed curve, the conversion relation between fuel energy and electric energy is determined by using an ECMS global optimization strategy and introducing an equivalent factor, a global optimal control strategy can be obtained by minimizing a Hamilton value, then an optimal control method of an engine and a motor at each moment is obtained, and the engine is controlled.

    本发明公开了一种基于车速规划的车辆自适应巡航方法,车辆接收卫星信号确定当前位置,获取前方道路海拔和限速数据;构建n阶贝塞尔函数,通过贝塞尔函数生成车辆速度关于道路位置的车速曲线;构建车速曲线的评价函数,并建立约束;对野马优化算法进行改进,引入高斯分布生成初始种群以及基于莱维飞行的个体位置更新策略,以提高其全局搜索能力和收敛速度;然后将贝塞尔函数和评价函数输入到改进的野马优化算法,最终输出最佳巡航车速曲线;基于最佳巡航车速曲线,使用ECMS全局优化策略,引入等价因子来确定燃油能量与电能的换算关系,通过最小化哈密尔顿值可得到全局的最优控制策略,然后得到每个时刻发动机和电机的最优控制方法,并对发动机进行控制。


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    Title :

    Vehicle adaptive cruise method based on vehicle speed planning


    Additional title:

    一种基于车速规划的车辆自适应巡航方法


    Contributors:
    WAN CHAOYI (author) / YU JINYANG (author) / HU HAO (author) / WANG ZHIZHONG (author) / ZHANG JINTAO (author)

    Publication date :

    2025-01-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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