CN103754224B - 一种车辆多目标协调换道辅助自适应巡航控制方法 - Google Patents
一种车辆多目标协调换道辅助自适应巡航控制方法 Download PDFInfo
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- CN103754224B CN103754224B CN201410033746.2A CN201410033746A CN103754224B CN 103754224 B CN103754224 B CN 103754224B CN 201410033746 A CN201410033746 A CN 201410033746A CN 103754224 B CN103754224 B CN 103754224B
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000001133 acceleration Effects 0.000 claims abstract description 38
- 238000005096 rolling process Methods 0.000 claims abstract description 10
- 230000006870 function Effects 0.000 claims description 60
- 230000008859 change Effects 0.000 claims description 10
- 239000011159 matrix material Substances 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 23
- 239000007787 solid Substances 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 238000010587 phase diagram Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004973 motor coordination Effects 0.000 description 1
- 238000002703 mutagenesis Methods 0.000 description 1
- 231100000350 mutagenesis Toxicity 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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- 238000012360 testing method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
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CN201410033746.2A CN103754224B (zh) | 2014-01-24 | 2014-01-24 | 一种车辆多目标协调换道辅助自适应巡航控制方法 |
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CN201410033746.2A CN103754224B (zh) | 2014-01-24 | 2014-01-24 | 一种车辆多目标协调换道辅助自适应巡航控制方法 |
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CN103754224A CN103754224A (zh) | 2014-04-30 |
CN103754224B true CN103754224B (zh) | 2016-02-24 |
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CN201410033746.2A Active CN103754224B (zh) | 2014-01-24 | 2014-01-24 | 一种车辆多目标协调换道辅助自适应巡航控制方法 |
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Families Citing this family (42)
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DE102015006445A1 (de) * | 2015-05-19 | 2016-11-24 | Man Truck & Bus Ag | Verfahren und Vorrichtung zur Unterstützung eines Fahrers eines Fahrzeugs, insbesondere eines Nutzfahrzeugs |
CN105035090B (zh) * | 2015-06-06 | 2017-10-13 | 吉林大学 | 基于交通信号灯的自主驾驶车辆轨迹预测控制方法 |
WO2018057455A1 (en) * | 2016-09-21 | 2018-03-29 | Apple Inc. | Vehicle control system |
CN106476806B (zh) * | 2016-10-26 | 2019-01-15 | 上海理工大学 | 基于交通信息的协同式自适应巡航系统算法 |
CN107015477B (zh) * | 2017-04-05 | 2019-10-18 | 同济大学 | 基于状态反馈的车辆路径跟踪h∞控制方法 |
CN107117170B (zh) * | 2017-04-28 | 2019-04-09 | 吉林大学 | 一种基于经济性驾驶的实时预测巡航控制系统 |
CN107628029B (zh) * | 2017-08-22 | 2019-06-18 | 清华大学 | 一种网联汽车队列的节能型稳定性运动控制方法 |
CN107856669A (zh) * | 2017-11-01 | 2018-03-30 | 合肥创宇新能源科技有限公司 | 基于跟随工况适应策略的acc控制方法 |
CN108919799B (zh) * | 2018-06-10 | 2020-08-11 | 同济大学 | 一种网联智能车辆协作换道方法 |
CN108983771A (zh) * | 2018-07-03 | 2018-12-11 | 天津英创汇智汽车技术有限公司 | 车辆换道决策方法及装置 |
CN109035819B (zh) * | 2018-07-27 | 2020-12-22 | 南通大学 | 一种基于雾计算的区域交通情景感知方法 |
TWI665113B (zh) * | 2018-08-13 | 2019-07-11 | 鴻海精密工業股份有限公司 | 自動跟車方法、電子裝置和存儲介質 |
CN109493593B (zh) * | 2018-10-15 | 2020-11-27 | 同济大学 | 一种考虑舒适度的公交运行轨迹优化方法 |
CN109448434A (zh) * | 2018-10-16 | 2019-03-08 | 张亮 | 无人驾驶车辆群体决策方法 |
CN109977449B (zh) * | 2018-11-05 | 2023-08-22 | 江苏大学 | 智能汽车纵向动力学系统混杂动态建模与优化控制方法 |
CN111196275A (zh) * | 2018-11-16 | 2020-05-26 | 中科院微电子研究所昆山分所 | 一种多目标自适应巡航控制方法、装置及设备 |
CN109733390B (zh) * | 2018-12-29 | 2021-07-20 | 江苏大学 | 一种基于驾驶人特性的自适应换道预警方法 |
CN109927729B (zh) * | 2019-03-07 | 2020-06-23 | 南京微达电子科技有限公司 | 持续高速驾驶安全车距估算及稳定性评价控制方法与装置 |
CN111830950B (zh) * | 2019-03-29 | 2022-10-14 | 昆山微电子技术研究院 | 一种自适应跟随预测控制方法、系统及装置 |
CN111830951B (zh) * | 2019-03-29 | 2022-10-14 | 昆山微电子技术研究院 | 一种自适应跟随预测控制方法、系统及装置 |
CN110276783B (zh) * | 2019-04-23 | 2021-01-08 | 上海高重信息科技有限公司 | 一种多目标跟踪方法、装置及计算机系统 |
CN110356404B (zh) * | 2019-05-28 | 2021-04-09 | 吉林大学 | 一种具有自主换道功能并提高侧向安全性的智能驾驶系统 |
CN110297494B (zh) * | 2019-07-15 | 2020-07-10 | 吉林大学 | 一种基于滚动博弈的自动驾驶车辆换道决策方法及系统 |
CN110488802B (zh) * | 2019-08-21 | 2020-05-12 | 清华大学 | 一种网联环境下的自动驾驶车辆动态行为决策方法 |
CN110456801B (zh) * | 2019-08-29 | 2022-05-17 | 重庆长安汽车股份有限公司 | 一种自动驾驶汽车的跟车控制方法、装置及汽车 |
CN110962853B (zh) * | 2019-11-25 | 2021-04-06 | 浙江工业大学 | 一种车联网环境下车辆博弈换道协作方法 |
CN111260956B (zh) * | 2020-01-15 | 2021-03-16 | 清华大学 | 一种基于模型预测控制的车辆自动换道规划与控制方法 |
CN111137288B (zh) * | 2020-01-19 | 2021-07-20 | 江苏大学 | 一种网联条件下多车协同换道方法 |
CN111231956B (zh) * | 2020-02-26 | 2021-07-20 | 江苏大学 | 一种车辆定速巡航系统加速度约束控制算法 |
US11814073B2 (en) * | 2020-03-18 | 2023-11-14 | Baidu Usa Llc | Learning based controller for autonomous driving |
CN113942504B (zh) * | 2020-07-16 | 2023-05-05 | 华为技术有限公司 | 一种自适应巡航控制方法及装置 |
CN114407894A (zh) * | 2020-09-25 | 2022-04-29 | 阿波罗智能技术(北京)有限公司 | 车辆控制方法、装置、电子设备及存储介质 |
CN114516342B (zh) * | 2020-11-19 | 2024-05-03 | 上海汽车集团股份有限公司 | 一种车辆控制方法、装置及车辆 |
CN112441004B (zh) * | 2020-11-30 | 2023-04-25 | 重庆长安汽车股份有限公司 | 自动驾驶换道的纵向规划方法、系统、车辆及存储介质 |
CN112660124B (zh) * | 2020-11-30 | 2023-01-24 | 吉林大学 | 一种用于换道场景的协同自适应巡航控制方法 |
CN112429004B (zh) * | 2020-12-02 | 2022-03-15 | 北京理工大学 | 一种车辆自动换道控制方法 |
CN114852099A (zh) * | 2021-02-03 | 2022-08-05 | 郑州宇通客车股份有限公司 | 机动车换道行为的预测方法 |
CN114030469B (zh) * | 2021-06-18 | 2022-08-02 | 东南大学 | 多车协同轨迹规划和路径跟踪方法 |
DE102021116467A1 (de) | 2021-06-25 | 2022-12-29 | Ford Global Technologies, Llc | Verfahren zum Betrieb eines Kraftfahrzeugs |
CN113635920B (zh) * | 2021-09-17 | 2023-01-03 | 中国重汽集团济南动力有限公司 | 一种权重自适应横纵向耦合跟踪控制方法及系统 |
CN114212083B (zh) * | 2022-01-18 | 2024-02-27 | 浙江工业大学 | 一种在线优化调度的网联车辆多目标自适应巡航控制方法 |
CN117312776B (zh) * | 2023-11-27 | 2024-03-12 | 中汽研(天津)汽车工程研究院有限公司 | 一种跟车加速场景数据采集、挖掘及特征分析方法和系统 |
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