Automatic driving fleet transverse and longitudinal synchronization safety control method based on SSM

The invention discloses an automatic driving fleet transverse and longitudinal synchronous safety control method based on SSM, and the method comprises the following steps: firstly, for a curve scene in an intelligent network connection environment, after vehicles in an automatic driving fleet receive front and rear vehicle operation information and road state information; an automatic driving vehicle safety control target is constructed according to the SSM and a vehicle team distance strategy; and performing dynamic planning and real-time control on path selection of the vehicle by combining model predictive control with vehicle dynamics. According to the invention, the efficiency of the automatic driving motorcade in the curve scene can be guaranteed, and the safety is improved. 本发明公开了一种基于SSM的自动驾驶车队横纵向同步安全控制方法，包括步骤如下：首先，针对智能网联环境下的弯道场景，自动驾驶车队中车辆接收到前后车运行信息以及路道状态信息后；再根据利用SSM以及车队间距策略构建自动驾驶车辆安全控制目标；接着利用模型预测控制与车辆动力学结合，对车辆的路径选择进行动态规划与实时控制。本发明能保障自动驾驶车队在弯道场景下的效率并提高其安全性。