CN112164217A - Automatic driving vehicle queue running management system and control method thereof - Google Patents

Automatic driving vehicle queue running management system and control method thereof Download PDF

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CN112164217A
CN112164217A CN202010958301.0A CN202010958301A CN112164217A CN 112164217 A CN112164217 A CN 112164217A CN 202010958301 A CN202010958301 A CN 202010958301A CN 112164217 A CN112164217 A CN 112164217A
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刘晓强
王春燕
赵万忠
吴刚
秦亚娟
刘利锋
王展
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Nanjing University of Aeronautics and Astronautics
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Abstract

The invention discloses an automatic driving vehicle queue running management system and a control method thereof, wherein the automatic driving vehicle queue running management system comprises the following steps: the cloud computing module, the cloud control module and the cloud storage module; the driving management system uniformly controls all vehicles of the motorcade, and shortens the distance between two adjacent vehicles to the minimum safe distance; the controlled fleet reduces the average fuel saving amount of each vehicle by absorbing the enqueue of the freely running automatic driving vehicles, and obtains the optimal insertion position through the remote numerical analysis and calculation of the cloud computing module, so that the fuel saving amount difference of all vehicles in the fleet is minimum, and the fair benefit is realized. The invention can realize free enqueue and dequeue of vehicles running in a queue, and can equalize the oil saving amount and the benefits of each vehicle in a fleet in the whole travel.

Description

Automatic driving vehicle queue running management system and control method thereof
Technical Field
The invention belongs to the field of automatic driving vehicle queue driving control, and particularly relates to an automatic driving vehicle queue driving management system considering a vehicle wind resistance coefficient and a control method thereof.
Background
In recent years, with the increasing emphasis on environmental issues, the research on the queue driving technology and method is becoming an important branch of the research field of the automatic driving technology. Compared with the single running, the automatic driving vehicle has the advantages of more energy conservation, more environmental protection and more safety when running in a queue. Studies have shown that the air resistance is almost equal to the rolling resistance at about 60km/h, and 2 times or even 3 times the rolling resistance at about 150km/h, and it can be seen that most of the energy generated by the engine is used to overcome the air resistance when the vehicle is running at high speed. If the vehicles are driven in a queue, the rear vehicle can be positioned in a wake area of the front vehicle, the air resistance of the rear vehicle can be greatly reduced, the overall oil consumption of a fleet is further reduced, the tail gas emission is reduced, and the smaller the distance between the two vehicles is, the smaller the air resistance is; in addition, during the queue running, the vehicles are mutually in information connection, the running states of all the vehicles can be monitored at any time, when the emergency brake is met, the braking action can be completed in a very short time, the reaction time is faster than that of the vehicle running alone, and the running safety is greatly improved.
Therefore, on the highway, the independent driving automatic vehicles should be added into the motorcade to carry out queue driving, and the number of the independent driving automatic vehicles on the highway is reduced as much as possible. However, simulation research shows that the air resistance of the head vehicle and the tail vehicle is reduced less when the vehicles run in a queue, and the air resistance of only the middle vehicle is reduced more, so how to reasonably and effectively manage the queue running of the automatic driving vehicles enables each vehicle in a fleet to fairly benefit, and the maximizing of the benefit becomes a problem to be solved.
The invention discloses a vehicle queue driving control method and a management platform in China patent application No. CN201710885105.3, aiming at a vehicle departure request in a driving queue, the speed of a vehicle requested to depart and a vehicle behind the vehicle is reduced, and when the relative distances between the vehicle requested to depart and an adjacent front vehicle and an adjacent rear vehicle are both larger than a safe distance, the vehicle requested to depart is allowed to depart. When all the vehicles requesting to leave are left, the remaining vehicles which are driven at the reduced speed are controlled to drive in a queue to form a single queue, and then the queue is controlled to accelerate and is combined with the vehicles which are driven in front of the vehicles requesting to leave, so that the vehicles are driven in the queue and are combined to form a queue. The queue driving control method can realize the off-queue control of the vehicles in the driving process, and can also immediately carry out the queue driving and acceleration on part of the vehicles after the vehicles are off-queue, so that an integral queue is finally formed, and better oil saving efficiency is realized.
The invention discloses a vehicle queue running management platform, a control method and a vehicle-mounted terminal, wherein a user enqueue request and trip information uploaded by the vehicle-mounted terminal are judged by the management platform whether to agree to join in a queue for running, if the agreement is that instruction information needs to be sent to the corresponding vehicle-mounted terminal, the vehicle-mounted terminal starts to synchronize the running state of a front vehicle after receiving the instruction information. The queue driving control of the patent has flexibility, is not only suitable for fixed automobiles to drive in a queue, but also can realize that other vehicles on a highway are added into the queue according to requirements, and further realize intelligent formation.
However, the above-mentioned conventional queue driving control method only studies the formation method when the vehicles are running in the queue, mainly focuses on the control study of vehicle entering and leaving, and does not consider the benefit balance problem among the vehicles from the perspective of different air resistances of the vehicles in the fleet during the driving process. At present, the problem is not researched in China.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide an autonomous vehicle queue driving management system and a control method thereof, so as to solve the problem in the prior art that the balance of interest among vehicles is considered from the point that the vehicles in a fleet are different in air resistance during driving.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention relates to an automatic driving vehicle queue running management system, which comprises: the cloud computing module, the cloud control module and the cloud storage module;
the cloud computing module includes: the system comprises a vehicle distance calculation module, a numerical simulation calculation module and an evaluation index calculation module;
the inter-vehicle distance calculation module is used for calculating the minimum safe distance between two adjacent vehicles according to the braking performance of the vehicles;
the numerical simulation calculation module is used for carrying out corresponding numerical simulation calculation according to the motorcade running data and vehicle information which are acquired and uploaded by each vehicle in the motorcade;
the evaluation index calculation module is used for calculating an optimum insertion position evaluation index value according to the numerical simulation result and comparing the optimum insertion position evaluation index value with the optimum insertion position evaluation index value to obtain an optimum insertion position;
the cloud control module is used for generating a corresponding control instruction according to the optimal insertion position obtained by the calculation of the cloud computing module, and controlling a power system, a braking system and a steering system of the vehicle to finish acceleration, deceleration and lane change operations;
the cloud storage module is used for storing fleet information, fleet running data, numerical simulation data and a three-dimensional digital model of the vehicle type.
Further, the numerical simulation data is the air resistance coefficient value of each vehicle in the fleet through each numerical simulation.
Further, the specific calculation method of the optimal insertion position evaluation index value is as follows:
a. calculating the average oil saving amount per unit time since each vehicle in the fleet is enqueued, wherein the calculation formula is as follows:
Figure BDA0002679455420000021
in the formula (I), the compound is shown in the specification,ΔQiaverepresenting the average unit time fuel saving since the i-th vehicle of the fleet was enqueued, niIndicates the number of changes (vehicle enqueue or dequeue) of the fleet from the i-th vehicle enqueue time to the current time, tkIndicating the time interval between the k-1 st queue change and the k-th queue change since the ith vehicle in the fleet was enqueued,
Figure BDA0002679455420000022
representing the ith vehicle of the fleet during a time interval tkThe oil amount is saved in the inner unit time;
Figure BDA0002679455420000023
the calculation formula of (2) is as follows:
Figure BDA0002679455420000031
in the formula, QiShows the fuel consumption per unit time when the ith vehicle of the fleet runs alone,
Figure BDA0002679455420000032
representing the ith vehicle of the fleet during a time interval tkOil consumption per unit time, K represents a unit conversion factor, biIndicating the fuel consumption rate of the ith vehicle of the fleet, CiRepresenting the air resistance coefficient when the ith vehicle of the fleet runs alone,
Figure BDA0002679455420000033
representing the ith vehicle of the fleet during a time interval tkInternal coefficient of air resistance, AiRepresenting the frontal area, ρ, of the ith vehicle of the fleetoilRepresenting fuel density, pairRepresenting air density, ηiRepresenting the mechanical efficiency of the i-th vehicle driveline of the fleet;
for the vehicle that is enqueued this time,
Figure BDA0002679455420000034
in the formula (I), the compound is shown in the specification,ΔQavefor the average fuel saving per unit time of the vehicle, Q represents the fuel consumption per unit time when the vehicle is running alone, QrIndicating the fuel consumption per unit time after the vehicle is enqueued;
b. and calculating the standard deviation sigma of the oil saving amount of all vehicles in the new fleet in average unit time, wherein the obtained sigma value is the optimal insertion position evaluation index value.
The invention discloses a control method for queue running of an automatic driving vehicle, which comprises the following steps:
(1) when the motorcade normally runs on the expressway without obstacles, the speed of the motorcade is u0The distance between two adjacent vehicles is the minimum safety distance Li，LiThe calculation formula of (2) is as follows:
Figure BDA0002679455420000035
in the formula, LiRepresenting the minimum safe distance, s, between the ith vehicle and the (i + 1) th vehicle of the fleetiIndicating the braking distance, s, of the ith vehicle of the fleetyRepresents a reserved distance, is a set value, tau'i、τ″iRespectively representing the clearance time for eliminating the brake of the ith vehicle and the rise time of the brake pressure of the ith vehicle of the fleetiRepresenting the maximum braking deceleration of the ith vehicle of the fleet; if calculated LiLess than the minimum distance L between two vehicles that can normally travelminThen L isiIs taken as Lmin；
(2) When there is an intent to enter into a queue for a free-running autonomous vehicle, the following:
(21) the method comprises the steps that a free-running vehicle with an enqueue intention sends an enqueue request signal, vehicle information and vehicle travel information to a running management system, and the running management system judges whether to permit the vehicle to enqueue according to the information sent by the vehicle;
(22) root of herbaceous plantCalling out a three-dimensional digital model of a vehicle type corresponding to the vehicle and a three-dimensional digital model of a fleet according to the vehicle type information uploaded by the vehicle, performing numerical simulation calculation on a new fleet formed after the vehicle is inserted into each insertable position, and setting the vehicle speed to be u during the numerical simulation calculation0Adjusting the distance between two adjacent vehicles in the new fleet to the minimum safe distance LiObtaining the air resistance coefficient of each vehicle in the motorcade through numerical simulation calculation;
(23) calculating the evaluation index of the optimal insertion position of the formed new fleet after the vehicles are inserted into each insertable position according to the result obtained by numerical simulation calculation;
(24) comparing the evaluation indexes of the optimal insertion positions of the formed new motorcade after the vehicle is inserted into each insertable position, selecting the insertion position with the minimum evaluation index as the optimal insertion position, and performing entry control on the motorcade according to the position of the optimal insertion position in the motorcade;
(25) storing the finally formed numerical simulation information and driving information of the new motorcade;
(3) when there is a request for a vehicle in the fleet to leave, the following:
(31) according to the position of the vehicle requested to be dequeued in the motorcade, performing dequeue control on the motorcade:
(32) and carrying out numerical simulation calculation on the new fleet formed after the vehicles leave the fleet to obtain the air resistance coefficient of each vehicle in the fleet, and storing the numerical simulation information and the running information of the new fleet.
Further, the specific judgment process of the step (21) is as follows:
(211) judging whether the number of the vehicles in the motorcade reaches the upper limit number N of the vehicles in the motorcademaxIf not, go to step (212); if the vehicle is in the queue, rejecting the vehicle queuing request, and interrupting the communication connection;
(212) judging whether the type of the vehicle is the same as that of the motorcade vehicle, if so, entering a step (213), otherwise, rejecting the enqueuing request of the vehicle, and interrupting the communication connection;
(213) judging whether a three-dimensional digital model of the vehicle type corresponding to the vehicle exists or not, if so, entering a step (214), otherwise, rejecting a queuing request of the vehicle, interrupting communication connection, and recording the lack information of the vehicle type corresponding to the vehicle for periodically updating the stored three-dimensional digital model of the vehicle type;
(214) and (4) judging whether the in-line distance between the vehicle and the motorcade is greater than the minimum in-line distance S capable of being enqueued, if so, admitting the vehicle and entering the step (22), otherwise, rejecting the enqueue request of the vehicle and interrupting the communication connection.
Further, the upper limit number of vehicles N in the step (211)maxThe value is different for different types of vehicles in order to not affect a certain value for normal traffic.
Further, the minimum in-line distance S that can be enqueued in the step (214) is a certain value that the influence of fleet variation on normal traveling of the fleet, which is obtained from big data analysis, is within an acceptable range.
Further, the specific calculation method in the step (23) is as follows:
(231) calculating the average oil saving amount per unit time since each vehicle in the fleet is enqueued, wherein the calculation formula is as follows:
Figure BDA0002679455420000051
in the formula (I), the compound is shown in the specification,ΔQiaverepresenting the average unit time fuel saving since the i-th vehicle of the fleet was enqueued, niIndicates the number of changes (vehicle enqueue or dequeue) of the fleet from the i-th vehicle enqueue time to the current time, tkIndicating the time interval between the k-1 st queue change and the k-th queue change since the ith vehicle in the fleet was enqueued,
Figure BDA0002679455420000052
representing the ith vehicle of the fleet during a time interval tkThe oil amount is saved in the inner unit time;
Figure BDA0002679455420000053
the calculation formula of (2) is as follows:
Figure BDA0002679455420000054
in the formula, QiShows the fuel consumption per unit time when the ith vehicle of the fleet runs alone,
Figure BDA0002679455420000055
representing the ith vehicle of the fleet during a time interval tkOil consumption per unit time, K represents a unit conversion factor, biIndicating the fuel consumption rate of the ith vehicle of the fleet, CiRepresenting the air resistance coefficient when the ith vehicle of the fleet runs alone,
Figure BDA0002679455420000056
representing the ith vehicle of the fleet during a time interval tkInternal coefficient of air resistance, AiRepresenting the frontal area, ρ, of the ith vehicle of the fleetoilRepresenting fuel density, pairRepresenting air density, ηiRepresenting the mechanical efficiency of the i-th vehicle driveline of the fleet;
for the vehicle that is enqueued this time,
Figure BDA0002679455420000057
in the formula (I), the compound is shown in the specification,ΔQavefor the average fuel saving per unit time of the vehicle, Q represents the fuel consumption per unit time when the vehicle is running alone, QrIndicating the fuel consumption per unit time after the vehicle is enqueued;
(232) and calculating the standard deviation sigma of the oil saving amount of all vehicles in the new fleet in average unit time, wherein the obtained sigma value is the optimal insertion position evaluation index value.
Further, the specific method for performing enqueue control on the fleet in the step (24) is as follows:
(241) if the optimal insertion position is at the forefront end of the motorcade, controlling the vehicle to enter into a lane where the motorcade is located after the vehicle exceeds the head vehicle of the motorcade for a certain distance, and decelerating to shorten the distance between the vehicle and the original head vehicle of the motorcade to the minimum safe distance, so that the vehicle becomes the head vehicle of the motorcade;
(242) if the optimal insertion position is at the tail end of the motorcade, controlling the vehicle in the queue to decelerate, and after the vehicle lags behind the tail vehicle of the motorcade by a certain distance, changing the vehicle into a lane where the motorcade is located, accelerating, so that the distance between the vehicle and the original tail vehicle of the motorcade is shortened to be the minimum safe distance, and the vehicle becomes the tail vehicle of the motorcade;
(243) if the optimal insertion position is in the middle of the motorcade, the vehicle behind the optimal insertion position is controlled to decelerate, the distance between the vehicles in front of and behind the optimal insertion position is enlarged, after the distance is enlarged to a certain value, the vehicles entering the motorcade are controlled to converge into the position, and then the vehicles behind the motorcade are controlled to accelerate, so that the gaps among all the vehicles are adjusted to be the minimum safe distance.
Further, the step (31) of controlling the fleet of vehicles to depart specifically includes:
(311) if the vehicle requesting to leave the team is at the forefront end of the motorcade, controlling the vehicle requesting to leave the team to accelerate, increasing the distance between the vehicle and the rear vehicle, controlling the vehicle to change the lane after the distance is increased to a certain value, recovering the vehicle to control the running state after the lane change is finished, and interrupting the communication connection;
(312) if the vehicle requesting to leave the team is at the tail end of the motorcade, controlling the vehicle requesting to leave the team to decelerate and increase the distance between the vehicle and the front vehicle, controlling the vehicle to change the lane after the distance is increased to a certain value, recovering the vehicle to self control the driving state after the lane change is finished, and interrupting the communication connection;
(313) if the vehicle is requested to leave the middle of the motorcade, controlling the vehicle and the vehicle behind the vehicle to decelerate, enlarging the distance between the vehicle and the front and rear vehicles, and controlling the vehicle to change the lane when the distance is enlarged to a certain value; after the lane change is finished, the vehicle restores the self-control running state, the communication connection is interrupted, and the vehicle behind the departing vehicle is controlled to accelerate, so that the gaps among all the vehicles are adjusted to be the minimum safe distance.
The invention has the beneficial effects that:
the invention uses the running management system at the cloud end to control the whole automatic driving fleet, and because of the synchronism of the control of each vehicle, the distance between two adjacent vehicles can be shortened as much as possible, the air resistance coefficient of each vehicle is reduced as much as possible, and further the fuel consumption of each vehicle is reduced as much as possible.
The invention can absorb the automatic driving vehicles which run on the road into the motorcade, relieve the traffic pressure and improve the traffic efficiency of the vehicles on the road. Meanwhile, by means of the cloud computing technology, remote numerical simulation analysis is carried out on each enqueuing method of the vehicles, an optimal enqueuing scheme is obtained, and each vehicle in a fleet can fairly enjoy the oil-saving benefits brought by queue running.
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FIG. 1 is a schematic block diagram of the system of the present invention;
FIG. 2 is a flow chart of vehicle enqueue request processing and calculation;
FIG. 3 is a vehicle enqueue control flow diagram;
fig. 4 is a flow chart of vehicle dequeue control.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
Referring to fig. 1, an autonomous vehicle queue driving management system according to the present invention includes: the cloud computing module, the cloud control module and the cloud storage module;
the cloud computing module includes: the system comprises a vehicle distance calculation module, a numerical simulation calculation module and an evaluation index calculation module;
the inter-vehicle distance calculation module is used for calculating the minimum safe distance between two adjacent vehicles according to the braking performance of the vehicles;
the numerical simulation calculation module is used for carrying out corresponding numerical simulation calculation according to the motorcade running data and vehicle information which are acquired and uploaded by each vehicle in the motorcade;
the evaluation index calculation module is used for calculating an optimum insertion position evaluation index value according to the numerical simulation result and comparing the optimum insertion position evaluation index value with the optimum insertion position evaluation index value to obtain an optimum insertion position;
the cloud control module is used for generating a corresponding control instruction according to the optimal insertion position obtained by the calculation of the cloud computing module, and controlling a power system, a braking system and a steering system of the vehicle to finish acceleration, deceleration and lane change operations;
the cloud storage module is used for storing fleet information, fleet running data, numerical simulation data and a three-dimensional digital model of the vehicle type.
The numerical simulation data is an air resistance coefficient value obtained by each vehicle in the motorcade through each numerical simulation.
The specific calculation method of the optimal insertion position evaluation index value comprises the following steps:
a. calculating the average oil saving amount per unit time since each vehicle in the fleet is enqueued, wherein the calculation formula is as follows:
Figure BDA0002679455420000071
in the formula (I), the compound is shown in the specification,ΔQiaverepresenting the average unit time fuel saving since the i-th vehicle of the fleet was enqueued, niIndicates the number of changes (vehicle enqueue or dequeue) of the fleet from the i-th vehicle enqueue time to the current time, tkIndicating the time interval between the k-1 st queue change and the k-th queue change since the ith vehicle in the fleet was enqueued,
Figure BDA0002679455420000072
representing the ith vehicle of the fleet during a time interval tkThe oil amount is saved in the inner unit time;
Figure BDA0002679455420000073
the calculation formula of (2) is as follows:
Figure BDA0002679455420000074
in the formula, QiShows the fuel consumption per unit time when the ith vehicle of the fleet runs alone,
Figure BDA0002679455420000075
representing the ith vehicle of the fleet during a time interval tkOil consumption per unit time, K represents a unit conversion factor, biIndicating the fuel consumption rate of the ith vehicle of the fleet, CiRepresenting the air resistance coefficient when the ith vehicle of the fleet runs alone,
Figure BDA0002679455420000076
representing the ith vehicle of the fleet during a time interval tkInternal coefficient of air resistance, AiRepresenting the frontal area, ρ, of the ith vehicle of the fleetoilRepresenting fuel density, pairRepresenting air density, ηiRepresenting the mechanical efficiency of the i-th vehicle driveline of the fleet;
for the vehicle that is enqueued this time,
Figure BDA0002679455420000081
in the formula (I), the compound is shown in the specification,ΔQavefor the average fuel saving per unit time of the vehicle, Q represents the fuel consumption per unit time when the vehicle is running alone, QrIndicating the fuel consumption per unit time after the vehicle is enqueued;
b. and calculating the standard deviation sigma of the oil saving amount of all vehicles in the new fleet in average unit time, wherein the obtained sigma value is the optimal insertion position evaluation index value.
The invention discloses a control method for queue running of an automatic driving vehicle, which comprises the following steps:
(1) when the motorcade normally runs on the expressway without obstacles, the speed of the motorcade is u0The distance between two adjacent vehicles is the minimum safety distance Li，LiThe calculation formula of (2) is as follows:
Figure BDA0002679455420000082
in the formula, LiIndicating the i-th vehicle and the i + 1-th vehicle of the fleetMinimum safety distance between siIndicating the braking distance, s, of the ith vehicle of the fleetyRepresents a reserved distance, is a set value, tau'i、τ″iRespectively representing the clearance time for eliminating the brake of the ith vehicle and the rise time of the brake pressure of the ith vehicle of the fleetiRepresenting the maximum braking deceleration of the ith vehicle of the fleet; if calculated LiLess than the minimum distance L between two vehicles that can normally travelminThen L isiIs taken as Lmin；
(2) When there is an intention of the free-running autonomous vehicle to travel in a queue, as shown in fig. 2, as follows:
(21) the method comprises the steps that a free-running vehicle with an enqueue intention sends an enqueue request signal, vehicle information and vehicle travel information to a running management system, and the running management system judges whether to permit the vehicle to enqueue according to the information sent by the vehicle;
(22) calling out a three-dimensional digital model of a vehicle type corresponding to the vehicle and a three-dimensional digital model of a fleet according to the vehicle type information uploaded by the vehicle, performing numerical simulation calculation on a new fleet formed after the vehicle is inserted into each insertable position by using commercial CFD software, and setting the vehicle speed to be u during the numerical simulation calculation0Adjusting the distance between two adjacent vehicles in the new fleet to the minimum safe distance LiObtaining the air resistance coefficient of each vehicle in the motorcade through numerical simulation calculation;
(23) calculating the evaluation index of the optimal insertion position of the formed new fleet after the vehicles are inserted into each insertable position according to the result obtained by numerical simulation calculation;
(24) comparing the evaluation indexes of the optimal insertion positions of the formed new motorcade after the vehicle is inserted into each insertable position, selecting the insertion position with the minimum evaluation index as the optimal insertion position, and performing entry control on the motorcade according to the position of the optimal insertion position in the motorcade;
(25) storing the finally formed numerical simulation information and driving information of the new motorcade;
(3) when there is a request for a vehicle in the fleet to leave, the following:
(31) according to the position of the vehicle requested to be dequeued in the motorcade, performing dequeue control on the motorcade:
(32) and carrying out numerical simulation calculation on the new fleet formed after the vehicles leave the fleet to obtain the air resistance coefficient of each vehicle in the fleet, and storing the numerical simulation information and the running information of the new fleet.
The specific judgment process of the step (21) is as follows:
(211) judging whether the number of the vehicles in the motorcade reaches the upper limit number N of the vehicles in the motorcademaxIf not, go to step (212); if the vehicle is in the queue, rejecting the vehicle queuing request, and interrupting the communication connection;
(212) judging whether the type of the vehicle is the same as that of the motorcade vehicle, if so, entering a step (213), otherwise, rejecting the enqueuing request of the vehicle, and interrupting the communication connection;
(213) judging whether a three-dimensional digital model of the vehicle type corresponding to the vehicle exists or not, if so, entering a step (214), otherwise, rejecting a queuing request of the vehicle, interrupting communication connection, and recording the lack information of the vehicle type corresponding to the vehicle for periodically updating the stored three-dimensional digital model of the vehicle type;
(214) and (4) judging whether the in-line distance between the vehicle and the motorcade is greater than the minimum in-line distance S capable of being enqueued, if so, admitting the vehicle and entering the step (22), otherwise, rejecting the enqueue request of the vehicle and interrupting the communication connection.
The upper limit number of vehicles N in the step (211)maxThe value is different for different types of vehicles in order to not affect a certain value for normal traffic.
The minimum in-line distance S that can be enqueued in the step (214) is a certain value that the influence of fleet variation on normal traveling of the fleet is within an acceptable range according to big data analysis.
Referring to fig. 3, the specific calculation method in step (23) includes:
(231) calculating the average oil saving amount per unit time since each vehicle in the fleet is enqueued, wherein the calculation formula is as follows:
Figure BDA0002679455420000091
in the formula (I), the compound is shown in the specification,ΔQiaverepresenting the average unit time fuel saving since the i-th vehicle of the fleet was enqueued, niIndicates the number of changes (vehicle enqueue or dequeue) of the fleet from the i-th vehicle enqueue time to the current time, tkIndicating the time interval between the k-1 st queue change and the k-th queue change since the ith vehicle in the fleet was enqueued,
Figure BDA0002679455420000092
representing the ith vehicle of the fleet during a time interval tkThe oil amount is saved in the inner unit time;
Figure BDA0002679455420000101
the calculation formula of (2) is as follows:
Figure BDA0002679455420000102
in the formula, QiShows the fuel consumption per unit time when the ith vehicle of the fleet runs alone,
Figure BDA0002679455420000103
representing the ith vehicle of the fleet during a time interval tkOil consumption per unit time, K represents a unit conversion factor, biIndicating the fuel consumption rate of the ith vehicle of the fleet, CiRepresenting the air resistance coefficient when the ith vehicle of the fleet runs alone,
Figure BDA0002679455420000104
representing the ith vehicle of the fleet during a time interval tkInternal coefficient of air resistance, AiRepresenting the frontal area, ρ, of the ith vehicle of the fleetoilRepresenting fuel density, pairRepresenting air density, ηiTo representMechanical efficiency of the fleet ith vehicle drive train;
for the vehicle that is enqueued this time,
Figure BDA0002679455420000105
in the formula (I), the compound is shown in the specification,ΔQavefor the average fuel saving per unit time of the vehicle, Q represents the fuel consumption per unit time when the vehicle is running alone, QrIndicating the fuel consumption per unit time after the vehicle is enqueued;
(232) and calculating the standard deviation sigma of the oil saving amount of all vehicles in the new fleet in average unit time, wherein the obtained sigma value is the optimal insertion position evaluation index value.
The concrete method for controlling the fleet in the step (24) comprises the following steps:
(241) if the optimal insertion position is at the forefront end of the motorcade, controlling the vehicle to enter into a lane where the motorcade is located after the vehicle exceeds the head vehicle of the motorcade for a certain distance, and decelerating to shorten the distance between the vehicle and the original head vehicle of the motorcade to the minimum safe distance, so that the vehicle becomes the head vehicle of the motorcade;
(242) if the optimal insertion position is at the tail end of the motorcade, controlling the vehicle in the queue to decelerate, and after the vehicle lags behind the tail vehicle of the motorcade by a certain distance, changing the vehicle into a lane where the motorcade is located, accelerating, so that the distance between the vehicle and the original tail vehicle of the motorcade is shortened to be the minimum safe distance, and the vehicle becomes the tail vehicle of the motorcade;
(243) if the optimal insertion position is in the middle of the motorcade, the vehicle behind the optimal insertion position is controlled to decelerate, the distance between the vehicles in front of and behind the optimal insertion position is enlarged, after the distance is enlarged to a certain value, the vehicles entering the motorcade are controlled to converge into the position, and then the vehicles behind the motorcade are controlled to accelerate, so that the gaps among all the vehicles are adjusted to be the minimum safe distance.
Referring to fig. 4, the step (31) of controlling the fleet of vehicles to depart specifically includes:
(311) if the vehicle requesting to leave the team is at the forefront end of the motorcade, controlling the vehicle requesting to leave the team to accelerate, increasing the distance between the vehicle and the rear vehicle, controlling the vehicle to change the lane after the distance is increased to a certain value, recovering the vehicle to control the running state after the lane change is finished, and interrupting the communication connection;
(312) if the vehicle requesting to leave the team is at the tail end of the motorcade, controlling the vehicle requesting to leave the team to decelerate and increase the distance between the vehicle and the front vehicle, controlling the vehicle to change the lane after the distance is increased to a certain value, recovering the vehicle to self control the driving state after the lane change is finished, and interrupting the communication connection;
(313) if the vehicle is requested to leave the middle of the motorcade, controlling the vehicle and the vehicle behind the vehicle to decelerate, enlarging the distance between the vehicle and the front and rear vehicles, and controlling the vehicle to change the lane when the distance is enlarged to a certain value; after the lane change is finished, the vehicle restores the self-control running state, the communication connection is interrupted, and the vehicle behind the departing vehicle is controlled to accelerate, so that the gaps among all the vehicles are adjusted to be the minimum safe distance.
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

Claims (10)

1. An autonomous vehicle queue travel management system, comprising: the cloud computing module, the cloud control module and the cloud storage module;
the cloud computing module includes: the system comprises a vehicle distance calculation module, a numerical simulation calculation module and an evaluation index calculation module;
the inter-vehicle distance calculation module is used for calculating the minimum safe distance between two adjacent vehicles according to the braking performance of the vehicles;
the numerical simulation calculation module is used for carrying out corresponding numerical simulation calculation according to the motorcade running data and vehicle information which are acquired and uploaded by each vehicle in the motorcade;
the evaluation index calculation module is used for calculating an optimum insertion position evaluation index value according to the numerical simulation result and comparing the optimum insertion position evaluation index value with the optimum insertion position evaluation index value to obtain an optimum insertion position;
the cloud control module is used for generating a corresponding control instruction according to the optimal insertion position obtained by the calculation of the cloud computing module, and controlling a power system, a braking system and a steering system of the vehicle to finish acceleration, deceleration and lane change operations;
the cloud storage module is used for storing fleet information, fleet running data, numerical simulation data and a three-dimensional digital model of the vehicle type.
2. The automated guided vehicle in-line ride management system of claim 1, wherein the numerical simulation data is an air resistance coefficient value obtained from each numerical simulation for each vehicle in the fleet.
3. The automated guided vehicle queue travel management system of claim 1, wherein the specific calculation method of the optimal insertion position evaluation index value is:
a. calculating the average oil saving amount per unit time since each vehicle in the fleet is enqueued, wherein the calculation formula is as follows:
Figure FDA0002679455410000011
in the formula (I), the compound is shown in the specification,ΔQiaverepresenting the average unit time fuel saving since the i-th vehicle of the fleet was enqueued, niRepresenting the number of fleet variations, t, from the time of the i-th vehicle's entry to the current time in the fleetkIndicating the time interval between the k-1 st queue change and the k-th queue change since the ith vehicle in the fleet was enqueued,
Figure FDA0002679455410000012
representing the ith vehicle of the fleet during a time interval tkThe oil amount is saved in the inner unit time;
Figure FDA0002679455410000013
the calculation formula of (2) is as follows:
Figure FDA0002679455410000014
in the formula, QiShows the fuel consumption per unit time when the ith vehicle of the fleet runs alone,
Figure FDA0002679455410000015
representing the ith vehicle of the fleet during a time interval tkOil consumption per unit time, K represents a unit conversion factor, biIndicating the fuel consumption rate of the ith vehicle of the fleet, CiRepresenting the air resistance coefficient when the ith vehicle of the fleet runs alone,
Figure FDA0002679455410000021
representing the ith vehicle of the fleet during a time interval tkInternal coefficient of air resistance, AiRepresenting the frontal area, ρ, of the ith vehicle of the fleetoilRepresenting fuel density, pairRepresenting air density, ηiRepresenting the mechanical efficiency of the i-th vehicle driveline of the fleet;
for the vehicle that is enqueued this time,
Figure FDA0002679455410000022
in the formula (I), the compound is shown in the specification,ΔQavefor the average fuel saving per unit time of the vehicle, Q represents the fuel consumption per unit time when the vehicle is running alone, QrIndicating the fuel consumption per unit time after the vehicle is enqueued;
b. and calculating the standard deviation sigma of the oil saving amount of all vehicles in the new fleet in average unit time, wherein the obtained sigma value is the optimal insertion position evaluation index value.
4. A control method for queue running of an automatic driving vehicle is characterized by comprising the following steps:
(1) when the motorcade normally runs on the expressway without obstacles, the speed of the motorcade is u0The distance between two adjacent vehicles is the minimum safety distance Li，LiThe calculation formula of (2) is as follows:
Figure FDA0002679455410000023
in the formula, LiRepresenting the minimum safe distance, s, between the ith vehicle and the (i + 1) th vehicle of the fleetiIndicating the braking distance, s, of the ith vehicle of the fleetyRepresents a reserved distance, is a set value, tau'i、τ″iRespectively representing the clearance time for eliminating the brake of the ith vehicle and the rise time of the brake pressure of the ith vehicle of the fleetiRepresenting the maximum braking deceleration of the ith vehicle of the fleet; if calculated LiLess than the minimum distance L between two vehicles that can normally travelminThen L isiIs taken as Lmin；
(2) When there is an intent to enter into a queue for a free-running autonomous vehicle, the following:
(21) the method comprises the steps that a free-running vehicle with an enqueue intention sends an enqueue request signal, vehicle information and vehicle travel information to a running management system, and the running management system judges whether to permit the vehicle to enqueue according to the information sent by the vehicle;
(22) calling out a three-dimensional digital model of a vehicle type corresponding to the vehicle and a three-dimensional digital model of a fleet according to the vehicle type information uploaded by the vehicle, performing numerical simulation calculation on a new fleet formed after the vehicle is inserted into each insertable position, and setting the vehicle speed to be u during the numerical simulation calculation0Adjusting the distance between two adjacent vehicles in the new fleet to the minimum safe distance LiObtaining the air resistance coefficient of each vehicle in the motorcade through numerical simulation calculation;
(23) calculating the evaluation index of the optimal insertion position of the formed new fleet after the vehicles are inserted into each insertable position according to the result obtained by numerical simulation calculation;
(24) comparing the evaluation indexes of the optimal insertion positions of the formed new motorcade after the vehicle is inserted into each insertable position, selecting the insertion position with the minimum evaluation index as the optimal insertion position, and performing entry control on the motorcade according to the position of the optimal insertion position in the motorcade;
(25) storing the finally formed numerical simulation information and driving information of the new motorcade;
(3) when there is a request for a vehicle in the fleet to leave, the following:
(31) according to the position of the vehicle requested to be dequeued in the motorcade, performing dequeue control on the motorcade:
(32) and carrying out numerical simulation calculation on the new fleet formed after the vehicles leave the fleet to obtain the air resistance coefficient of each vehicle in the fleet, and storing the numerical simulation information and the running information of the new fleet.
5. The method for controlling queued driving of an autonomous vehicle as claimed in claim 4, characterized in that the specific judgment process of step (21) is:
(211) judging whether the number of the vehicles in the motorcade reaches the upper limit number N of the vehicles in the motorcademaxIf not, go to step (212); if the vehicle is in the queue, rejecting the vehicle queuing request, and interrupting the communication connection;
(212) judging whether the type of the vehicle is the same as that of the motorcade vehicle, if so, entering a step (213), otherwise, rejecting the enqueuing request of the vehicle, and interrupting the communication connection;
(213) judging whether a three-dimensional digital model of the vehicle type corresponding to the vehicle exists or not, if so, entering a step (214), otherwise, rejecting a queuing request of the vehicle, interrupting communication connection, and recording the lack information of the vehicle type corresponding to the vehicle for periodically updating the stored three-dimensional digital model of the vehicle type;
(214) and (4) judging whether the in-line distance between the vehicle and the motorcade is greater than the minimum in-line distance S capable of being enqueued, if so, admitting the vehicle and entering the step (22), otherwise, rejecting the enqueue request of the vehicle and interrupting the communication connection.
6. The method of controlling queued driving of autonomous vehicles as claimed in claim 5, characterized in that in said step (211) the upper limit number of vehicles N is reachedmaxTo be shadowlessThis value differs for different types of vehicles, in response to a certain value for normal traffic driving.
7. The method of controlling queued driving of autonomous vehicles as claimed in claim 4, wherein the minimum distance to queue S in step (214) is a certain value that the fleet variation, analyzed from big data, has an effect on the fleet' S normal driving within an acceptable range.
8. The method for controlling queued driving of autonomous vehicles according to claim 4, characterized in that the specific calculation method in step (23) is:
(231) calculating the average oil saving amount per unit time since each vehicle in the fleet is enqueued, wherein the calculation formula is as follows:
Figure FDA0002679455410000041
in the formula (I), the compound is shown in the specification,ΔQiaverepresenting the average unit time fuel saving since the i-th vehicle of the fleet was enqueued, niRepresenting the number of fleet variations, t, from the time of the i-th vehicle's entry to the current time in the fleetkIndicating the time interval between the k-1 st queue change and the k-th queue change since the ith vehicle in the fleet was enqueued,
Figure FDA0002679455410000042
representing the ith vehicle of the fleet during a time interval tkThe oil amount is saved in the inner unit time;
Figure FDA0002679455410000043
the calculation formula of (2) is as follows:
Figure FDA0002679455410000044
in the formula, QiShows the fuel consumption per unit time when the ith vehicle of the fleet runs alone,
Figure FDA0002679455410000045
representing the ith vehicle of the fleet during a time interval tkOil consumption per unit time, K represents a unit conversion factor, biIndicating the fuel consumption rate of the ith vehicle of the fleet, CiRepresenting the air resistance coefficient when the ith vehicle of the fleet runs alone,
Figure FDA0002679455410000046
representing the ith vehicle of the fleet during a time interval tkInternal coefficient of air resistance, AiRepresenting the frontal area, ρ, of the ith vehicle of the fleetoilRepresenting fuel density, pairRepresenting air density, ηiRepresenting the mechanical efficiency of the i-th vehicle driveline of the fleet;
for the vehicle that is enqueued this time,
Figure FDA0002679455410000047
in the formula (I), the compound is shown in the specification,ΔQavefor the average fuel saving per unit time of the vehicle, Q represents the fuel consumption per unit time when the vehicle is running alone, QrIndicating the fuel consumption per unit time after the vehicle is enqueued;
(232) and calculating the standard deviation sigma of the oil saving amount of all vehicles in the new fleet in average unit time, wherein the obtained sigma value is the optimal insertion position evaluation index value.
9. The method for controlling the queued driving of autonomous vehicles according to claim 4, wherein the method for controlling the fleet entering in step (24) comprises:
(241) if the optimal insertion position is at the forefront end of the motorcade, controlling the vehicle to enter into a lane where the motorcade is located after the vehicle exceeds the head vehicle of the motorcade for a certain distance, and decelerating to shorten the distance between the vehicle and the original head vehicle of the motorcade to the minimum safe distance, so that the vehicle becomes the head vehicle of the motorcade;
(242) if the optimal insertion position is at the tail end of the motorcade, controlling the vehicle in the queue to decelerate, and after the vehicle lags behind the tail vehicle of the motorcade by a certain distance, changing the vehicle into a lane where the motorcade is located, accelerating, so that the distance between the vehicle and the original tail vehicle of the motorcade is shortened to be the minimum safe distance, and the vehicle becomes the tail vehicle of the motorcade;
(243) if the optimal insertion position is in the middle of the motorcade, the vehicle behind the optimal insertion position is controlled to decelerate, the distance between the vehicles in front of and behind the optimal insertion position is enlarged, after the distance is enlarged to a certain value, the vehicles entering the motorcade are controlled to converge into the position, and then the vehicles behind the motorcade are controlled to accelerate, so that the gaps among all the vehicles are adjusted to be the minimum safe distance.
10. The method for controlling queued driving of autonomous vehicles as claimed in claim 4, wherein said step (31) of controlling the fleet of vehicles to depart specifically comprises:
(311) if the vehicle requesting to leave the team is at the forefront end of the motorcade, controlling the vehicle requesting to leave the team to accelerate, increasing the distance between the vehicle and the rear vehicle, controlling the vehicle to change the lane after the distance is increased to a certain value, recovering the vehicle to control the running state after the lane change is finished, and interrupting the communication connection;
(312) if the vehicle requesting to leave the team is at the tail end of the motorcade, controlling the vehicle requesting to leave the team to decelerate and increase the distance between the vehicle and the front vehicle, controlling the vehicle to change the lane after the distance is increased to a certain value, recovering the vehicle to self control the driving state after the lane change is finished, and interrupting the communication connection;
(313) if the vehicle is requested to leave the middle of the motorcade, controlling the vehicle and the vehicle behind the vehicle to decelerate, enlarging the distance between the vehicle and the front and rear vehicles, and controlling the vehicle to change the lane when the distance is enlarged to a certain value; after the lane change is finished, the vehicle restores the self-control running state, the communication connection is interrupted, and the vehicle behind the departing vehicle is controlled to accelerate, so that the gaps among all the vehicles are adjusted to be the minimum safe distance.
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