Cooperative type self-adaptive control method based on minimum safe interval

The invention discloses a cooperative type self-adaptive control method based on the minimum safe interval and is applied to a cooperative type self-adaptive cooperative system adopting a hierarchicalcontrol policy. A control algorithm and an evaluation method thereof can be used for upper control and determine the optimal value of a v factor in an expected acceleration calculated mode by way ofcombining an evaluation function and an simulation experiment, so as to obtain the optimum control algorithm. The algorithm can achieve car following at the minimum safe interval on the premise of guaranteeing the car following safety, so that the road traffic efficiency is improved greatly. 本发明公开了种基于最小安全车距的协同式自适应控制方法，应用于采用分层控制策略的协同式自适应巡航控制系统。该控制算法及其评价方法可用于上层控制，其利用评价函数与仿真实验相结合的方式确定期望加速度计算式中敏感度因子的最佳取值，从而得到最佳控制算法。所得算法可实现在保证自车跟驰安全性的前提下以最小车距跟车，大大提高了道路交通效率。