CN107993453B - Method for calculating safe speed of curve based on vehicle-road cooperation - Google Patents

Method for calculating safe speed of curve based on vehicle-road cooperation Download PDF

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CN107993453B
CN107993453B CN201711457316.3A CN201711457316A CN107993453B CN 107993453 B CN107993453 B CN 107993453B CN 201711457316 A CN201711457316 A CN 201711457316A CN 107993453 B CN107993453 B CN 107993453B
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speed
curve
road
vehicle speed
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CN107993453A (en
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褚端峰
曹永兴
马嘉欣
吴超仲
王绍凡
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Wuhan University of Technology WUT
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • 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
    • B60W40/105—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
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • 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

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Abstract

The invention discloses a curve safe vehicle speed calculation method based on vehicle-road cooperation. Firstly, acquiring information such as cut-in speed of a vehicle in a curve, geometric characteristics of the curve and the like by utilizing vehicle-mounted equipment and road side equipment in a vehicle-road cooperative system, replacing the radius of the curve by the driving radius of a driver to reflect the driving styles of different drivers, and establishing a curve vehicle speed model adaptive to the driving style of the driver; then, considering accident forms of vehicle sideslip, rollover, rear-end collision and the like, the optimal speed of the curve of the automatic driving vehicle is decided from the aspects of yaw stability, roll stability, following safety, driving comfort and the like, and finally an expected speed plan is provided for a vehicle active control system. Compared with the conventional curve safe vehicle speed calculation method, the curve vehicle speed calculation method provided by the invention comprehensively considers various accident forms such as sideslip, rollover, rear-end collision and the like, the considered factors are more comprehensive, and support can be provided for speed planning of an automatic driving vehicle.

Description

Method for calculating safe speed of curve based on vehicle-road cooperation
Technical Field
The invention belongs to the technical field of traffic safety, and particularly relates to a curve safety vehicle speed calculation method based on vehicle-road cooperation.
Background
For the automatic driving vehicle, the driving safety, driving comfort and the like of the automatic driving vehicle at the road sections such as the curve and ramp exit of the urban expressway, the curve of the suburban road, the expressway and the like are the keys influencing the popularization and application of the automatic driving vehicle in the future. At present, a roadside Dynamic Speed Limit (Dynamic Speed Limit Signs) method is difficult to fully consider Dynamic and individual factors such as vehicle parameter difference and driver behavior characteristics, and is not enough to fundamentally improve the curve accident condition. Similarly, the vehicle speed Adaptive Cruise Control (Adaptive Cruise Control) is not easy to acquire road environment information (curve radius, road adhesion coefficient, and the like), and can only adaptively adjust the vehicle speed for the preceding vehicle and the obstacle, and cannot adjust the speed for the curve ahead.
Disclosure of Invention
The invention aims to solve the technical problem of providing a curve safety vehicle speed calculation method based On vehicle-road cooperation, which utilizes the vehicle-road cooperation technology to carry out real-time information interaction such as road environment, driving state, driver behavior and the like between road side equipment (RSU) and On-Board Unit (OBU) so as to predict the optimal curve passing speed considering driving safety and driving comfort and provide expected speed planning for an automatic driving vehicle.
The curve speed decision for an autonomous vehicle should meet the following requirements in 3 respects:
(1) the ultimate goal of autonomous driving is to enable vehicles to conform to the driving behavior characteristics of human drivers, which requires that vehicle speed decision systems be as "personified" as possible to improve their ride comfort.
(2) The automatic driving has the advantages that the limitation of human perception and judgment capability can be avoided, so that the occurrence of traffic accidents is reduced or even eliminated, the influence of multiple factors such as 'human-vehicle-environment' and the like on the curve vehicle speed modeling can be fully considered by the vehicle speed decision system, and the driving safety of the vehicle is ensured.
(3) In urban road environments, traffic flow speed can also affect speed decisions of autonomous vehicles, so that the autonomous vehicles must also consider the speed of the front vehicles to ensure the following safety.
In conclusion, the 'human-vehicle-environment' information provided by the vehicle-road cooperation technology is combined with vehicle dynamics modeling research from the learning of the over-bending driving behavior of human drivers, and an automatic driving vehicle curve speed decision-making system for the urban expressway is designed.
The technical scheme adopted by the invention for solving the technical problems is as follows: provides a method for calculating safe vehicle speed of a curve based on vehicle-road cooperation, which comprises the following steps,
step one, calculating the running radius of a vehicle curve:
Rp＝R+1/(1-cos1/2β)
wherein R isPAccording to the research on the driving behavior of the driver, the driver tends to keep the current vehicle speed to reduce the brake when the driver turns over the curve, the road width is fully utilized, and a larger track radius is selected in the channel instead of completely following the roadThe center line of the road runs.
Step two, calculating the vehicle speed of the vehicle passing a bend:
Figure BDA0001529512700000021
wherein:
Figure BDA0001529512700000022
vcthe vehicle speed is the overbending vehicle speed; bk(k is 0,1 and 2) is a calibration coefficient, and the vehicle speed, vehicle and road state information pair b collected when the driver drives a curve in person is used as the basis of the algorithm application of the man-machine co-drivingkPerforming regression fitting, b0、b1、b2Actual driving data of a driver are acquired according to system application and calibrated by using software origin; r is the radius of the curve; g is the acceleration of gravity; v. oftThe cutting-in speed is set; i is the height of the road surface. In order to enable the speed decision of the automatic driving vehicle to simulate the speed decision idea of a driver as much as possible, after deep research on the over-bending behavior of the driver, the driver can generate a side friction requirement when driving in a curve, and the side friction requirement exceeding the bearing capacity of the driver can cause discomfort of the driver. Therefore, the driver selects different over-curve speeds in consideration of the current vehicle speed and the road shape.
The speed decision of the automatic driving vehicle is adapted to the driving behavior characteristics of the driver, and meanwhile, the driving safety must be ensured. For a curve section in a road, the main forms of traffic accidents include side turning, side slipping and rear-end collision. In order to ensure the driving safety of the curve, a vehicle speed decision system needs to establish corresponding judgment indexes, monitor the accident forms of sideslip, rollover, rear-end collision and the like in real time, and adopt an optimal speed strategy to avoid the traffic accident of the curve.
Step three, judging the constraint conditions of the driving safety of the curve:
first, in the case of a curve with an ultrahigh outside, the critical speed v at which the vehicle sideslips is calculateds；
Second, calculate vehicle occurrenceCritical velocity v of rolloverr；
Then under the condition of automatic driving, calculating the following safety critical speed vf。
Step four, calculating the safe speed of the curve:
vopt＝min{vc,vs,vr,vf}
in the formula, voptDetermining the vehicle speed; v. ofcThe vehicle speed of the vehicle passing a curve; v. ofsCritical speed at which the vehicle is experiencing side-slip; v. ofrThe critical speed of the vehicle rollover; v. offTo follow the safety critical vehicle speed.
According to the technical scheme, in the third step, (when the vehicle is cut into the road surface with higher speed or the road surface adhesion coefficient is lower in rainy and snowy days and the like, the vehicle is easy to have sideslip accidents, and generally in the curve with ultrahigh outside) the critical speed v of the vehicle for sideslip is calculatedsThe method specifically comprises the following steps:
Figure BDA0001529512700000031
in the formula, i is the height of the road surface;
Figure BDA0001529512700000032
the coefficient of adhesion of the pavement; g is the acceleration of gravity.
According to the technical scheme, in the third step, (when the weather is dry, the road surface adhesion coefficient is higher, large-scale passenger and cargo vehicles with higher gravity center height and the like in a sharp curve section with smaller radius are easy to have rollover accidents due to the fact that the large-scale passenger and cargo vehicles are subjected to larger rollover moment consisting of centrifugal force and lateral adhesive force), the critical speed v of the vehicles with rollover is calculatedrThe method specifically comprises the following steps:
Figure BDA0001529512700000033
wherein B is the vehicle track; h is the height of the center of gravity of the vehicle; rPThe radius of the curve of the vehicle; g is the acceleration of gravity; i is the height of the road surface.
According to the technical scheme, in the third step, under the road conditions with high traffic flow density such as urban expressways, the vehicles can possibly follow the curve. At this time, the curve speed decision of the vehicle must consider the influence of the motion state of the front vehicle. Calculating the following safety critical speed v under the automatic driving conditionfThe method specifically comprises the following steps:
Figure BDA0001529512700000034
in the formula, s is the current following distance; v. ofbIs the front vehicle speed; a isbThe braking acceleration of the front vehicle is adopted; v. ofminThe minimum value of the vehicle speed in the monitoring range of the road side equipment is obtained; v. oftIs the cut-in vehicle speed.
The invention also provides an automatic driving vehicle control method based on the curve safety vehicle speed calculation, which comprises the following steps:
1) obtaining vehicle structure parameter information including vehicle wheel track and gravity center height; and vehicle running state information including vehicle speed, acceleration, longitude and latitude;
2) calculating the safe speed of the vehicle passing through the front curve (providing decision basis for the vehicle speed early warning and automatic control of the automatic driving vehicle), and transmitting the acquired curve geometric characteristics, road adhesion coefficients and road condition information (such as congestion, accident and the like) to the automatic driving vehicle by the road infrastructure through the real-time information interaction between the RSU and the OBU;
3) and information sharing is realized, the automatic driving vehicle shares the real-time position, the state, the current vehicle speed and the expected over-bending vehicle speed through a wireless network, and reference information is provided for vehicle speed planning of nearby vehicles.
According to the technical scheme, in the step 2), calculating the safe speed of the vehicle passing through the front curve specifically comprises:
step one, calculating the running radius of a vehicle curve:
Rp＝R+1/(1-cos(β/2))
wherein R isPIs the running radius, R is the curve radius, β is the deflection angle;
step two, calculating the vehicle speed of the vehicle passing a bend:
Figure BDA0001529512700000041
wherein:
Figure BDA0001529512700000042
vcthe vehicle speed is the overbending vehicle speed; bk(k is 0,1 and 2) is a calibration coefficient, and the vehicle speed, vehicle and road state information pair b collected when the driver drives a curve in person is used as the basis of the algorithm application of the man-machine co-drivingkPerforming regression fitting, b0、b1、b2Actual driving data of a driver are acquired according to system application and calibrated by using software origin; r is the radius of the curve; g is the acceleration of gravity; v. oftThe cutting-in speed is set; i is the height of the road surface.
Step three, judging the constraint conditions of the driving safety of the curve:
first, in the case of a curve with an ultrahigh outside, the critical speed v at which the vehicle sideslips is calculateds；
Secondly, calculating the critical speed v of the vehicle for rolloverr；
Then under the condition of automatic driving, calculating the following safety critical speed vf；
Step four, calculating the safe speed of the curve:
vopt＝min{vc,vs,vr,vf}
in the formula, voptDetermining the vehicle speed; v. ofcThe vehicle speed of the vehicle passing a curve; v. ofsCritical speed at which the vehicle is experiencing side-slip; v. ofrThe critical speed of the vehicle rollover; v. offTo follow the safety critical vehicle speed.
According to the technical scheme, in the third step, the critical speed v of the sideslip of the vehicle is calculatedsThe method specifically comprises the following steps:
Figure BDA0001529512700000043
in the formula, i is the height of the road surface;
Figure BDA0001529512700000044
the coefficient of adhesion of the pavement; g is the acceleration of gravity.
According to the technical scheme, in the third step, the critical speed v of the vehicle for rollover is calculatedrThe method specifically comprises the following steps:
Figure BDA0001529512700000051
wherein B is the vehicle track; h is the height of the center of gravity of the vehicle; rPThe radius of the curve of the vehicle; g is the acceleration of gravity; i is the height of the road surface.
According to the technical scheme, in the third step, under the condition of automatic driving, the following safety critical speed v is calculatedfThe method specifically comprises the following steps:
Figure BDA0001529512700000052
in the formula, s is the current following distance; v. ofbIs the front vehicle speed; a isbThe braking acceleration of the front vehicle is adopted; v. ofminThe minimum value of the vehicle speed in the monitoring range of the road side equipment is obtained; v. oftIs the cut-in vehicle speed.
The invention has the following beneficial effects: the invention establishes a curve safe speed calculation method comprehensively considering various factors such as road environment, vehicle structure parameters, driver behavior characteristics and the like based on vehicle-road cooperation and aiming at traffic accident forms such as side turning, sideslip, rear-end collision and the like which may occur in a curve of a vehicle. The invention comprehensively considers the automobile motion characteristic and the driver behavior characteristic and utilizes the vehicle dynamics theory to analyze the safe vehicle speed of the vehicle at the curve. Compared with the conventional curve safe vehicle speed calculation method, the curve vehicle speed calculation method provided by the invention has the advantages of comprehensive consideration, simplicity and convenience in calculation, high operation speed, high reliability and the like, and provides theoretical method support for speed planning of an automatic driving vehicle.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a technical route diagram of a curve safe speed calculation method based on vehicle-road coordination according to an embodiment of the present invention;
fig. 2 is a diagram of a decision scheme for an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment of the invention provides a method for calculating the safe speed of a curve based on vehicle-road cooperation, which comprises the following steps,
step one, calculating the running radius of a vehicle curve:
Rp＝R+1/(1-cos1/2β)
wherein R isPAccording to the research on the driving behavior of a driver, the driver tends to keep the current vehicle speed to reduce braking when the driver turns a curve, the width of a road surface is fully utilized, and a larger track radius is selected in a channel instead of completely driving according to the center line of the road.
Step two, calculating the vehicle speed of the vehicle passing a bend:
Figure BDA0001529512700000061
wherein:
Figure BDA0001529512700000062
vcthe vehicle speed is the overbending vehicle speed; bk(k is 0,1 and 2) is a calibration coefficient, and the driving is utilized based on the algorithm application basis of the man-machine co-drivingThe vehicle speed, vehicle and road state information pair b collected when the person personally drives a curvekPerforming regression fitting, b0、b1、b2Actual driving data of a driver are acquired according to system application and calibrated by using software origin; r is the radius of the curve; g is the acceleration of gravity; v. oftThe cutting-in speed is set; i is the height of the road surface. In order to enable the speed decision of the automatic driving vehicle to simulate the speed decision idea of a driver as much as possible, after deep research on the over-bending behavior of the driver, the driver can generate a side friction requirement when driving in a curve, and the side friction requirement exceeding the bearing capacity of the driver can cause discomfort of the driver. Therefore, the driver selects different over-curve speeds in consideration of the current vehicle speed and the road shape.
The speed decision of the automatic driving vehicle is adapted to the driving behavior characteristics of the driver, and meanwhile, the driving safety must be ensured. For a curve section in a road, the main forms of traffic accidents include side turning, side slipping and rear-end collision. In order to ensure the driving safety of the curve, a vehicle speed decision system needs to establish corresponding judgment indexes, monitor the accident forms of sideslip, rollover, rear-end collision and the like in real time, and adopt an optimal speed strategy to avoid the traffic accident of the curve.
Step three, judging the constraint conditions of the driving safety of the curve:
first, in the case of a curve with an ultrahigh outside, the critical speed v at which the vehicle sideslips is calculateds；
Secondly, calculating the critical speed v of the vehicle for rolloverr；
Then under the condition of automatic driving, calculating the following safety critical speed vf。
Step four, calculating the safe speed of the curve:
vopt＝min{vc,vs,vr,vf}
in the formula, voptDetermining the vehicle speed; v. ofcThe vehicle speed of the vehicle passing a curve; v. ofsCritical speed at which the vehicle is experiencing side-slip; v. ofrThe critical speed of the vehicle rollover; v. offTo follow the safety critical vehicle speed.
Furthermore, in the third step, when the vehicle cut-in speed is high or the road adhesion coefficient is low, such as in rainy and snowy days, the vehicle is easy to have a sideslip accident, and the critical speed v of the vehicle for generating sideslip is calculated in a curve with an ultrahigh outer sidesThe method specifically comprises the following steps:
Figure BDA0001529512700000071
in the formula, i is the height of the road surface;
Figure BDA0001529512700000072
the coefficient of adhesion of the pavement; g is the acceleration of gravity.
Further, in the third step, the critical speed v of the vehicle at which the vehicle rolls over is calculated (in dry weather, the road surface adhesion coefficient is high, large-sized passenger and cargo vehicles with high gravity center height and the like at a sharp curve section with a small radius are easy to roll over due to the fact that the large-sized passenger and cargo vehicles are subjected to a large overturning moment consisting of centrifugal force and lateral adhesive force, and rollover accidents are easy to happen)rThe method specifically comprises the following steps:
Figure BDA0001529512700000073
wherein B is the vehicle track; h is the height of the center of gravity of the vehicle; rPThe radius of the curve of the vehicle; g is the acceleration of gravity; i is the height of the road surface.
Further, in the third step, under the road conditions with high traffic flow density, such as an urban expressway, the vehicle may follow before entering the curve. At this time, the curve speed decision of the vehicle must consider the influence of the motion state of the front vehicle. Calculating the following safety critical speed v under the automatic driving conditionfThe method specifically comprises the following steps:
Figure BDA0001529512700000074
in the formula, s is the current following distance; v. ofbIs the front vehicle speed; a isbFor braking the front vehicleAcceleration; v. ofminThe minimum value of the vehicle speed in the monitoring range of the road side equipment is obtained; v. oftIs the cut-in vehicle speed.
The embodiment of the invention also provides an automatic driving vehicle control method based on the curve safety vehicle speed calculation, which comprises the following steps:
1) obtaining vehicle structure parameter information including vehicle wheel track and gravity center height; and vehicle running state information including vehicle speed, acceleration, longitude and latitude;
2) calculating the safe speed of the vehicle passing through the front curve, providing decision basis for the early warning and automatic control of the speed of the automatically driven vehicle, and transmitting the acquired curve geometric characteristics, road adhesion coefficients and road condition information (such as congestion, accidents and the like) to the automatically driven vehicle by the road infrastructure through the real-time information interaction between the RSU and the OBU;
3) and information sharing is realized, the automatic driving vehicle shares the real-time position, the state, the current vehicle speed and the expected over-bending vehicle speed through a wireless network, and reference information is provided for vehicle speed planning of nearby vehicles.
Further, in step 2), calculating a safe vehicle speed of the vehicle passing through a curve ahead specifically includes:
step one, calculating the running radius of a vehicle curve:
Rp＝R+1/(1-cos(β/2))
wherein R isPIs the running radius, R is the curve radius, β is the deflection angle;
step two, calculating the vehicle speed of the vehicle passing a bend:
Figure BDA0001529512700000081
wherein:
Figure BDA0001529512700000082
vcthe vehicle speed is the overbending vehicle speed; bk(k is 0,1 and 2) is a calibration coefficient, based on the application basis of the man-machine co-driving algorithm, the vehicle speed collected when the driver drives the curve in person is utilized,vehicle, road state information pair bkPerforming regression fitting to embody different driver styles, wherein b0、b1、b2Acquiring actual driving data of a driver according to system application, and calibrating R as a curve radius by using software origin; g is the acceleration of gravity; v. oftThe cutting-in speed is set; i is the height of the road surface.
Step three, judging the constraint conditions of the driving safety of the curve:
first, in the case of a curve with an ultrahigh outside, the critical speed v at which the vehicle sideslips is calculateds；
Secondly, calculating the critical speed v of the vehicle for rolloverr；
Then under the condition of automatic driving, calculating the following safety critical speed vf；
Step four, calculating the safe speed of the curve:
vopt＝min{vc,vs,vr,vf}
in the formula, voptDetermining the vehicle speed; v. ofcThe vehicle speed of the vehicle passing a curve; v. ofsCritical speed at which the vehicle is experiencing side-slip; v. ofrThe critical speed of the vehicle rollover; v. offTo follow the safety critical vehicle speed.
Further, in the third step, the critical speed v of the vehicle for sideslip is calculatedsThe method specifically comprises the following steps:
Figure BDA0001529512700000083
in the formula, i is the height of the road surface;
Figure BDA0001529512700000084
the coefficient of adhesion of the pavement; g is the acceleration of gravity.
Further, in the third step, the critical speed v of the vehicle for rollover is calculatedrThe method specifically comprises the following steps:
Figure BDA0001529512700000085
wherein B is the vehicle track; h is the height of the center of gravity of the vehicle; rPThe radius of the curve of the vehicle; g is the acceleration of gravity; i is the height of the road surface.
Further, in the third step, under the automatic driving condition, the following safety critical vehicle speed v is calculatedfThe method specifically comprises the following steps:
Figure BDA0001529512700000091
in the formula, s is the current following distance; v. ofbIs the front vehicle speed; a isbThe braking acceleration of the front vehicle is adopted; v. ofminThe minimum value of the vehicle speed in the monitoring range of the road side equipment is obtained; v. oftIs the cut-in vehicle speed.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.

Claims (6)

1. A curve safe speed calculation method based on vehicle-road cooperation is characterized by comprising the following steps,
step one, calculating the running radius of a vehicle curve:
Rp＝R+1/(1-cos(β/2))
wherein R isPIs the running radius, R is the curve radius, β is the deflection angle;
step two, calculating the vehicle speed of the vehicle passing a bend:
Figure FDA0002298618330000011
wherein:
Figure FDA0002298618330000012
vcthe vehicle speed is the overbending vehicle speed; bkFor calibrating the coefficient, k is 0,1,2, and an algorithm based on man-machine co-driving should be usedUsing the base, the vehicle speed, vehicle and road state information pair b collected when the driver drives the curve in personkPerforming regression fitting, b0、b1、b2Acquiring actual driving data of a driver after the system is applied, and calibrating by using a software origin; r is the radius of the curve; g is the acceleration of gravity; v. oftThe cutting-in speed is set; i is the height of the road surface;
step three, judging the constraint conditions of the driving safety of the curve:
first, in the case of a curve with an ultrahigh outside, the critical speed v at which the vehicle sideslips is calculateds；
Secondly, calculating the critical speed v of the vehicle for rolloverr；
Then under the condition of automatic driving, calculating the following safety critical speed vf；
Step four, calculating the safe speed of the curve:
vopt＝min{vc,vs,vr,vf}
in the formula, voptDetermining the vehicle speed; v. ofcThe vehicle speed of the vehicle passing a curve; v. ofsCritical speed at which the vehicle is experiencing side-slip; v. ofrThe critical speed of the vehicle rollover; v. offThe following safety critical speed is adopted; in the third step, under the condition of automatic driving, the following safety critical speed v is calculatedfThe method specifically comprises the following steps:
Figure FDA0002298618330000013
in the formula, s is the current following distance; v. ofbIs the front vehicle speed; a isbThe braking acceleration of the front vehicle is adopted; v. ofminThe minimum value of the vehicle speed in the monitoring range of the road side equipment is obtained; v. oftIs the cut-in vehicle speed.
2. A curve safety vehicle speed calculation method based on vehicle-road cooperation according to claim 1, characterized in that in the third step, the critical speed v of the vehicle generating sideslip is calculatedsThe method specifically comprises the following steps:
Figure FDA0002298618330000021
in the formula, i is the height of the road surface;
Figure FDA0002298618330000022
the coefficient of adhesion of the pavement; g is the acceleration of gravity.
3. A curve safety vehicle speed calculation method based on vehicle-road cooperation according to claim 2, characterized in that in the third step, the critical speed v of the vehicle rollover is calculatedrThe method specifically comprises the following steps:
Figure FDA0002298618330000023
wherein B is the vehicle track; h is the height of the center of gravity of the vehicle; rPThe radius of the curve of the vehicle; g is the acceleration of gravity; i is the height of the road surface.
4. An automatic driving vehicle control method based on curve safety vehicle speed calculation is characterized by comprising the following steps:
1) obtaining vehicle structure parameter information including vehicle wheel track and gravity center height; and vehicle running state information including vehicle speed, acceleration, longitude and latitude;
2) calculating the safe speed of the vehicle passing through the front curve, and transmitting the acquired curve geometric characteristics, road adhesion coefficients and road condition information to the automatic driving vehicle by the road infrastructure through real-time information interaction between the RSU and the OBU;
the method for calculating the safe speed of the vehicle passing through the front curve specifically comprises the following steps:
step one, calculating the running radius of a vehicle curve:
Rp＝R+1/(1-cos(β/2))
wherein R isPIs the running radius, R is the curve radius, β is the deflection angle;
step two, calculating the vehicle speed of the vehicle passing a bend:
Figure FDA0002298618330000024
wherein:
Figure FDA0002298618330000025
vcthe vehicle speed is the overbending vehicle speed; bkAnd k is 0,1 and 2 for calibrating the coefficient, and the vehicle speed, the vehicle and the road state information pair b collected when the driver drives the curve in person are utilized on the basis of the algorithm application of man-machine co-drivingkPerforming regression fitting, b0、b1、b2Acquiring actual driving data of a driver after the system is applied, and calibrating by using a software origin; r is the radius of the curve; g is the acceleration of gravity; v. oftThe cutting-in speed is set; i is the height of the road surface;
step three, judging the constraint conditions of the driving safety of the curve:
first, in the case of a curve with an ultrahigh outside, the critical speed v at which the vehicle sideslips is calculateds；
Secondly, calculating the critical speed v of the vehicle for rolloverr；
Then under the condition of automatic driving, calculating the following safety critical speed vf；
Step four, calculating the safe speed of the curve:
vopt＝min{vc,vs,vr,vf}
in the formula, voptDetermining the vehicle speed; v. ofcThe vehicle speed of the vehicle passing a curve; v. ofsCritical speed at which the vehicle is experiencing side-slip; v. ofrThe critical speed of the vehicle rollover; v. offThe following safety critical speed is adopted;
3) the information sharing is realized, the automatic driving vehicle shares the real-time position, the state, the current vehicle speed and the expected over-bending vehicle speed through a wireless network, and reference information is provided for the vehicle speed planning of nearby vehicles;
calculating the following safety critical speed v under the automatic driving conditionfThe method specifically comprises the following steps:
Figure FDA0002298618330000031
in the formula, s is the current following distance; v. ofbIs the front vehicle speed; a isbThe braking acceleration of the front vehicle is adopted; v. ofminThe minimum value of the vehicle speed in the monitoring range of the road side equipment is obtained; v. oftIs the cut-in vehicle speed.
5. A curve safety vehicle speed calculation-based autonomous vehicle control method as claimed in claim 4, characterized in that in step three, the critical speed v for the vehicle to slip is calculatedsThe method specifically comprises the following steps:
Figure FDA0002298618330000032
in the formula, i is the height of the road surface;
Figure FDA0002298618330000033
the coefficient of adhesion of the pavement; g is the acceleration of gravity.
6. A curve safety-based vehicle speed calculation-based autonomous vehicle control method as claimed in claim 5, characterized in that in step three, the critical speed v of the vehicle at which the vehicle rolls over is calculatedrThe method specifically comprises the following steps:
Figure FDA0002298618330000034
wherein B is the vehicle track; h is the height of the center of gravity of the vehicle; rPThe radius of the curve of the vehicle; g is the acceleration of gravity; i is the height of the road surface.
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