公开(公告)号：US11136030B2

公开(公告)日：2021-10-05

申请号：US16746908

申请日：2020-01-19

Applicant: Tsinghua University

Inventor： Shengbo Li ,  Bo Cheng ,  Keqiang Li ,  Hongbo Gao ,  Xiaoxue Zhang ,  Renjie Li ,  Zhitao Wang ,  Hailiang Chen ,  Jianqiang Wang ,  Yugong Luo ,  Diange Yang

IPC: B60W30/16 ,  B60W10/04 ,  B60W40/04 ,  B60W50/00 ,  G08G1/052 ,  G08G1/00 ,  H04W4/46

Abstract: The present disclosure provides a method and a device for controlling a vehicle. The vehicle is in a vehicle queue, the vehicle queue includes n vehicles {vehicle 0, vehicle 1, . . . , vehicle n−1} arranged in order along a traveling direction, the method is performed by a computing device of the vehicle i, i is from 1 to n−1. A vehicle-following subsystem model is established based on the relative speed and the relative vehicle distance error between the vehicle i and a vehicle i−1, and the acceleration of the vehicle i, a state trajectory of the vehicle-following subsystem model on a Δv-ΔR plane is determined, a plurality of division graphs of the vehicle i−1 in a plurality of travelling phases are combined to obtain a switching control graph for the vehicle i, and the travelling phase of the vehicle i is adjusted.