CN108765926A - A kind of vehicle collaboration follower method based on truck traffic - Google Patents
A kind of vehicle collaboration follower method based on truck traffic Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
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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
- 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
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
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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
- 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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Abstract
The invention discloses a kind of, and the vehicle based on truck traffic cooperates with follower method, including：S1. this vehicle running data and front truck running data are acquired；S2. it is based on this vehicle running data and front truck running data is established when can be changed away from Safety distance model；S3. be based on front truck running data, this vehicle running data and it is variable when away from Safety distance model establish vehicle collaboration follow model；S4. it follows model to calculate the desired acceleration of this vehicle according to vehicle collaboration and is transferred to executing agency, make the actual acceleration of vehicle that desired acceleration value be followed to change.The present invention by truck traffic obtain front truck information and combine from vehicle driving information establish consider front truck information it is variable when away from Safety distance model, by the way that the desired acceleration of decision is transferred to vehicle dynamic model, control throttle, braking make the actual acceleration of vehicle that desired acceleration value be followed to change, the holding of ideal following distance between realization vehicle, this vehicle it is reliable and stable follow front truck to travel, improve travel safety.
Description
Technical field
The invention belongs to intelligent transportation fields, and in particular to a kind of vehicle collaboration follower method based on truck traffic.
Background technology
With the crowd's quantity rapid growth for using automobile, automobile has caused some traffic pressures, traffic accident, congestion etc.
Problem.The vehicle collaboration occurred in recent years is to solve the new way of some traffic problems, and vehicle cooperates in driving process, and vehicle is not
Can only be acquired from the various information in vehicle driving process based on the sensor of itself, moreover it is possible to by around truck traffic perception its
The status information of his vehicle realizes between vehicle vehicle the interaction of information and shared, provides auxiliary information for driver, more convenient for creation
Add safe traffic environment.Vehicle collaboration follower method based on truck traffic can more reasonably control vehicle, reliable and stable
Follow front truck to travel, the emergency situations of front truck are responded rapidly to, the driving safety and comfort of vehicle are enhanced.Therefore it studies
Vehicle collaboration follower method based on truck traffic is of great practical significance.
Vehicle collaboration follower method is divided into two major classes, is longitudinal follower method and lateral follower method, existing research respectively
In follow the method for scene relatively more for longitudinal direction of car.For example Naranjo J Etong et al. consider speed and following distance control
System, the following control system of two vehicles is established based on fuzzy controller, without control for brake, only passes through throttle control and operation
Vehicle.Peak et al., which combines, automatically controls thought and energetic optimum theory, has studied the control strategy to single unit vehicle, and examine
Considering model, there are many uncertain factors, propose a kind of control method, being capable of fast and accurately regulation speed.Rajamani R
Et al. propose and prove not by truck traffic technology, only acquire this vehicle using traditional onboard sensor and surrounding vehicles believed
It ceases, the following distance between vehicle is difficult to stability contorting.King Pang Wei et al. is cooperateed with for two vehicles, considers that driver comfort defines this vehicle
The maximum value of braking deceleration travels design data fuzzy controller according to front and back two vehicle, and the expectation that decision goes out this vehicle accelerates
Degree, traveling can be cooperateed with front truck by controlling this vehicle.
However in existing vehicle collaboration follower method, auto model be reduced to mostly a particle or one to
Amount, has ignored control and the dynamic characteristic of vehicle, focuses on theoretic research, actual motion effect can not be learnt.Another party
Safe distance in the vehicle collaboration follower method of face is calculated based on fixed headway mostly, and underaction is difficult to meet
Needs of the vehicle in actual travel.
Invention content
In view of this, to solve the above-mentioned problems, the present invention provides a kind of vehicle collaboration side of following based on truck traffic
Method, it can utilize sensor to acquire from vehicle information, obtain front truck information by the truck traffic of hardware in loop, establish and consider front truck
Information it is variable when cooperate with follower method decision to go out the desired acceleration of this vehicle away from Safety distance model, and then by vehicle, it is defeated
Enter to executing agency, make the actual acceleration of vehicle that desired acceleration value be followed to change by control throttle, brake actuator,
It realizes in two vehicles collaboration driving procedure and keeps rational following distance, increase travel safety.
The purpose of the present invention is achieved through the following technical solutions：It is provided by the invention a kind of based on truck traffic
Vehicle cooperates with follower method, which is characterized in that this approach includes the following steps：
S1. this vehicle running data and front truck running data are acquired；
S2. it is based on this vehicle running data and front truck running data, away from Safety distance model when establishing variable；
S3. be based on front truck running data, this vehicle running data and it is variable when away from Safety distance model, establish vehicle collaboration with
With model；
S4. it follows model to calculate the desired acceleration of this vehicle according to vehicle collaboration and is transferred to executing agency, make vehicle
Actual acceleration follow desired acceleration value change.
Preferably, in the step S1, described vehicle traveling data include the displacement x of vehiclei, speed viAnd acceleration
ai。
Preferably, in the step S1, the front truck running data includes vehicle displacement xi-1, speed vi-1And acceleration
ai-1。
Preferably, in the step S2, it is away from Safety distance model when described variable：
In formula, T is a fixed value of setting, and Δ v is the relative velocity of front and back two vehicle, Δ v=vi-1-vi, vi-1It is preceding
Vehicle speed, viFor this vehicle speed, ai-1For the acceleration of front truck, α, β are positive constant, tminFor the minimum of the headway of setting
Value, tmaxFor the maximum value of the headway of setting.
Preferably, in the step S3, vehicle collaboration follows the model to be：
Wherein, ai(t) it is this vehicle acceleration, λ is sliding mode controller parameter, sreal(t) it is the practical workshop of Ben Che and front truck
Away from；dsafe(t) it is desired Safety distance.
Preferably, vehicle collaboration follows the computational methods of model to be：
Calculate the ideal following distance d of this vehicle and front trucksafe,
dsafe(t)=hvi(t)+d
Calculate the practical following distance s of this vehicle and front truckreal：
sreal(t)=xi-1(t)-xi(t)-l
Wherein, l is length of wagon；
Calculate the difference of practical following distance and ideal following distance：
εi(t)=sreal-dsafe=sreal(t)-hvi(t)-d
εi(t) it is following distance deviation；
According to sliding mode control theory, sliding formwork switching function is chosen：
According to sliding mode control theory, constant speed tendency rate is chosen, sliding formwork control equation is established：
λ is sliding mode controller parameter, and when meeting, sliding formwork switching function Y → 0 that is to say
Sliding formwork switching function is brought into sliding formwork control equation,
Then this vehicle desired acceleration is：
I.e.：
By adopting the above-described technical solution, the present invention has the advantage that：
The present invention by truck traffic obtain front truck information and combine from vehicle driving information establish consider front truck information can
Away from Safety distance model when change, on this basis, a kind of vehicle collaboration follower method is proposed, by by the desired acceleration of decision
It is transferred to vehicle dynamic model, control throttle, braking make the actual acceleration of vehicle that desired acceleration value be followed to change, realize
The holding of ideal following distance between vehicle, this vehicle it is reliable and stable follow front truck to travel, improve travel safety.
Other advantages, target and the feature of the present invention will be illustrated in the following description to a certain extent, and
And to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, Huo Zheke
To be instructed from the practice of the present invention.The target and other advantages of the present invention can by following specification realizing and
It obtains.
Description of the drawings
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
The detailed description of one step：
Fig. 1 is general frame figure of the V2X communication equipment hardwares in ring experiment porch；
Away from Calculation of Safety Distance method flow diagram when Fig. 2 is variable；
Fig. 3 is that the vehicle based on truck traffic cooperates with follower method block diagram.
Specific implementation mode
Illustrate that embodiments of the present invention, those skilled in the art can be by this specification below by way of specific specific example
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also be based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.
It please refers to Fig.1 to Fig.3.It should be noted that the diagram provided in the present embodiment only illustrates this in a schematic way
The basic conception of invention, package count when only display is with related component in the present invention rather than according to actual implementation in schema then
Mesh, shape and size are drawn, when actual implementation kenel, quantity and the ratio of each component can be a kind of random change, and its
Assembly layout kenel may also be increasingly complex.
Step 1：This vehicle running data in real time is obtained using the sensor that this vehicle carries, includes the displacement x of vehiclei, speed
Spend vi, acceleration aiEtc. data.Obtain real-time front truck running data, including front truck displacement xi-1, speed vi-1, acceleration ai-1Deng
Data.
Specifically, this vehicle obtains front truck running data by Zigbee truck traffics.
Step 2：Based on this vehicle running data and front truck running data obtained, away from safe distance mould when establishing variable
Type：
Safety distance model is generally divided into fixed Safety distance model and variable security distance model two major classes.Fixed peace
Full distance model uses fixed safe distance, does not consider the state of this vehicle and front truck, algorithm is simple, but underaction, it is difficult to
Meet needs of the automobile in actual travel.In variable security distance model, the variation of Ben Che and preceding car state can cause two vehicles
Between safe distance variation, more rationally, tally with the actual situation.Therefore it away from Safety distance model when the present invention uses variable, carries
The flexibility of safe distance between Gao Cheche.
This vehicle can obtain driving information of front truck, including current position, speed, acceleration etc. by truck traffic.
It can be considered to front truck driving information design safety distance algorithm, this and front truck behavior is paid attention in the practical startup procedure of driver
Essence is the same.Such as preceding vehicle speed is larger, when this vehicle speed is smaller, this vehicle can suitably accelerate, and reduce safe distance.When
When front truck acceleration is positive and bigger, this vehicle also should suitably accelerate, and reduce safe distance.Therefore, when variable away from
In safe distance algorithm, headway and the relative velocity of front and back two vehicle are negatively correlated, also negatively correlated with the acceleration of front truck.Then count
The formula for calculating headway h is：
H=T- α × Δ v- β × ai-1
In formula, T is a fixed value of setting, and rule of thumb, it is the relative velocity Δ v=of front and back two vehicle that T, which takes 2s, Δ v,
vi-1-vi, vi-1For preceding vehicle speed, viFor this vehicle speed, ai-1For the acceleration of front truck, α, β are positive constant, are taken as 0.2 respectively
With 1.2.
Headway is a time number, cannot take negative, too big also unreasonable, two vehicles can be caused apart from each other, up to not
To desired control effect.Therefore saturation function is used, more rational headway is obtained.Then finally calculate headway h
Formula be：
tminFor the minimum value of the headway of setting, tmaxFor the maximum value of the headway of setting.Then final safety
Distance is：
dsafe=hvi+d
D is the distance after two vehicles are static, is generally taken as 2m.
When variable away from Calculation of Safety Distance method the specific steps are：
1) time headway is calculated, if time headway is more than 2s, time headway is set as 2s, if time headway is small
In 0.2s, then time headway is set as 0.2s.
H=T- α Δ v- β ai-1；
if t≥2
T=2
end
if t≤0.2
T=0.2；
end
2) safe distance d is calculatedsafe=hvi+d；
The safe distance in two workshops can be adjusted in the model according to this vehicle information and front truck information dynamic so that two vehicles it
Between spacing it is more reasonable.The safe distance algorithm can effectively it is anti-interference, adaptability is also stronger, when the environment residing for vehicle
When changing, also more stable property, has good dynamic property.
Step 3：When variable based on front truck running data, this vehicle running data and the step 2 obtained away from safety away from
From model, establishes vehicle collaboration and follow model
Specifically, vehicle collaboration follow in scene there are two longitudinal direction of car travel.Wherein, the real time position of front truck, speed,
Acceleration is respectively xi-1(t)、vi-1(t)、ai-1(t), its status information and is by radio communication sent to this vehicle, this vehicle
Real time position, speed, acceleration are respectively xi(t)、vi(t)、ai(t), it is acted on by the decision making algorithm of this vehicle and executing agency,
This vehicle keeps it is expected following distance with front truck.
According to step 2 it is variable when away from the retainable ideal following distance of safe distance this vehicle of algorithm and front truck institute be
dsafe, formula is：
dsafe(t)=hvi(t)+d
The practical following distance of this vehicle and front truck is：
sreal(t)=xi-1(t)-xi(t)-l
Wherein, l is length of wagon.
The difference of practical following distance and ideal following distance is the following distance deviation of this vehicle and front truck：
εi(t)=sreal-dsafe=sreal(t)-hvi(t)-d
Can get information of vehicles in the state of truck traffic is：
1. the speed of this vehicle, acceleration；
2. the velocity and acceleration of front truck；
3. the following distance of Ben Che and front truck；
Ideal following distance can be kept with front truck when in order to allow this vehicle to run, then the design mesh of vehicle collaboration following controller
Mark is that the following distance deviation of front and back two vehicle is made to be intended to zero.Again because under conditions of truck traffic, this vehicle can obtain front truck
Acceleration.Then under the premise of making changes in vehicle speed smaller as possible, following distance deviation εi(t) and the relative velocity of front and back vehicle it
With level off to zero be controller general objective.According to sliding mode control theory, sliding formwork switching function is chosen：
According to sliding mode control theory, constant speed tendency rate is chosen, sliding formwork control equation is established：
When meeting, sliding formwork switching function Y → 0 that is to say
λ is sliding mode controller parameter, represents velocity of approach in the controls.If λ very littles, then it represents that with slower speed
Degree approach, if λ on the contrary is very big, then it represents that approached with faster speed, shake also can be more severe, according to control when parameter is chosen
Effect adjustment processed, λ are taken as 0.2.
Sliding formwork switching function is brought into sliding formwork control equation and is obtained
Solve can get Ben Che desired acceleration ai(t) it is：
I.e.：
The formula be based on truck traffic vehicle collaboration follows model, it can be seen that the model by front and back two vehicle workshop
Acceleration relationship composition away from, the speed of front and back two vehicle and front truck.
This vehicle desired acceleration value that the above decision goes out is transferred to the executing agency of vehicle, utilizes executing agency's output
Air throttle is braked or the traveling behavior of braking pressure control vehicle so that the acceleration of vehicle goes out desired acceleration guarantor with decision
It holds unanimously, rational following distance is kept with front truck while following front truck to travel.
Finally illustrate, the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although with reference to compared with
Good embodiment describes the invention in detail, it will be understood by those of ordinary skill in the art that, it can be to the skill of the present invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of the technical program, should all be covered in the present invention
Protection domain in.
Claims (6)
1. a kind of vehicle based on truck traffic cooperates with follower method, which is characterized in that this approach includes the following steps：
S1. this vehicle running data and front truck running data are acquired；
S2. it is based on this vehicle running data and front truck running data, away from Safety distance model when establishing variable；
S3. be based on front truck running data, this vehicle running data and it is variable when away from Safety distance model, establish vehicle collaboration and follow mould
Type；
S4. it follows model to calculate the desired acceleration of this vehicle according to vehicle collaboration and is transferred to executing agency, make the reality of vehicle
Border acceleration follows desired acceleration value to change.
2. a kind of vehicle based on truck traffic according to claim 1 cooperates with follower method, which is characterized in that described
In step S1, described vehicle traveling data include the displacement x of vehiclei, speed viWith acceleration ai。
3. a kind of vehicle based on truck traffic according to claim 1 cooperates with follower method, which is characterized in that described
In step S1, the front truck running data includes vehicle displacement xi-1, speed vi-1With acceleration ai-1。
4. a kind of vehicle based on truck traffic according to claim 1 cooperates with follower method, which is characterized in that described
In step S2, it is away from Safety distance model when described variable：
In formula, T is a fixed value of setting, and Δ v is the relative velocity of front and back two vehicle, Δ v=vi-1-vi, vi-1For preceding speed
Degree, viFor this vehicle speed, ai-1For the acceleration of front truck, α, β are positive constant, tminFor the minimum value of the headway of setting,
tmaxFor the maximum value of the headway of setting, h is headway.
5. a kind of vehicle based on truck traffic according to claim 4 cooperates with follower method, which is characterized in that described
In step S3, vehicle collaboration follows the model to be：
Wherein, ai(t) it is that this vehicle desired acceleration that follower method calculates is cooperateed with by vehicle, λ is sliding mode controller parameter,For the relative velocity for front and back vehicle, sreal(t) it is the practical following distance of Ben Che and front truck；dsafe(t) be desired Safety away from
From.The model indicates the desired acceleration of this vehicle and following distance of front and back two vehicle, the speed of the front and back two vehicle and acceleration of front truck
It is related.
6. a kind of vehicle based on truck traffic according to claim 5 cooperates with follower method, which is characterized in that the vehicle
Collaboration follows the computational methods of model to be：
Calculate the ideal following distance d of this vehicle and front trucksafe,
dsafe(t)=hvi(t)+d
Calculate the practical following distance s of this vehicle and front truckreal：
sreal(t)=xi-1(t)-xi(t)-l
Wherein, l is length of wagon；
Calculate the difference of practical following distance and ideal following distance：
εi(t)=sreal-dsafe=sreal(t)-hvi(t)-d
εi(t) it is following distance deviation；
According to sliding mode control theory, sliding formwork switching function is chosen：
According to sliding mode control theory, constant speed tendency rate is chosen, sliding formwork control equation is established：
λ is sliding mode controller parameter, and when meeting, sliding formwork switching function Y → 0 that is to say
Sliding formwork switching function is brought into sliding formwork control equation,
Then this vehicle desired acceleration is：
I.e.：
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