CN115131959A - Vehicle queue rear-end collision prevention active collision avoidance cooperative control method - Google Patents

Vehicle queue rear-end collision prevention active collision avoidance cooperative control method Download PDF

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CN115131959A
CN115131959A CN202210368980.5A CN202210368980A CN115131959A CN 115131959 A CN115131959 A CN 115131959A CN 202210368980 A CN202210368980 A CN 202210368980A CN 115131959 A CN115131959 A CN 115131959A
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vehicle
queue
distance
expected
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CN115131959B (en
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沈照杰
乔奉亮
张远航
王彦岩
林波
杨建国
康玉霞
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Harbin Institute of Technology Weihai
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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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • 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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract

The invention relates to the technical field of vehicle cooperative self-adaptive cruise, in particular to a cooperative control method for preventing rear-end collision and active collision avoidance of a vehicle queue, which carries out rear-end collision prevention active collision avoidance control by adjusting the inter-vehicle distance in the queue and improving the speed of a pilot vehicle, describes the change of the expected inter-vehicle distance during collision of the vehicle queue by adopting the displacement rule of each mass block of a mass-spring-damping system when the mass-spring-damping system is compressed, ensures that the change curve of the expected inter-vehicle distance has the characteristics of smoothness, rapidness and stability after properly calibrating the elasticity coefficient and the damping coefficient, is favorable for the stability of the speed of the vehicles in the queue, calculates and keeps the minimum safe inter-vehicle distance under the condition of considering the communication delay and the total delay time of a brake, ensures the safety of the vehicles in the queue, adopts an MPC controller to track the expected inter-vehicle distance and the expected vehicle speed, and the optimal acceleration of the vehicles in the queue is optimized by a rolling optimization method, so that the following safety, the fuel economy and the driving comfort are effectively ensured.

Description

Vehicle queue rear-end collision prevention active collision avoidance cooperative control method
The technical field is as follows:
the invention relates to the technical field of vehicle cooperative type self-adaptive cruise, in particular to a vehicle queue rear-end collision prevention active collision avoidance cooperative control method which is suitable for rear-end collision prevention and collision avoidance active control of a single vehicle or multiple vehicles, has a wider application range and reduces the risk of continuous rear-end collision.
Background
Vehicle queuing technology, also known as Cooperative Adaptive Cruise Control (CACC), is a mode that makes a group of vehicles with the same task travel cooperatively by means of V2X communication technology. The vehicles are arranged in a row at a smaller safe inter-vehicle distance to run, so that the air resistance of the following vehicles can be effectively reduced, and the energy consumption is reduced; in addition, information interaction in the queue is beneficial to the stability of traffic flow and the organization of vehicles, and researches show that the vehicle queue technology can effectively improve the driving safety, the fuel economy and relieve traffic jam. Statistical data show that rear-end collisions account for 45.7% of the total high-speed accidents, urban road proportion is larger, inter-vehicle distances in a vehicle queue are relatively small, and if rear-end collisions are at risk, the rear-end collisions are easy to occur in a chain manner, and serious loss is caused. The main reason for the rear-end collision is that the rear vehicle cannot keep a safe distance from the front vehicle, so that the front vehicle with the rear-end collision prevention system can effectively avoid collision with the rear vehicle, and the rear-end collision avoidance is one of the research points of the vehicle queue technology.
At present, vehicle rear-end collision prevention methods are classified into an early warning type method and an active control type method. The rear-end collision prevention early warning method calculates parameters such as the distance between front and rear vehicles, the relative speed and the collision time according to the information of vehicle sensors, and prompts a driver of the rear vehicle to have the rear-end collision risk by adopting methods such as a warning board, a warning lamp, a prompt tone and the like, and pays attention to the maintenance of the safe distance, but the method cannot solve the rear-end collision risk caused by objective reasons such as vehicle braking system faults and the like. The active control method determines the risk level of rear-end collision according to the information of the speed, the acceleration and the like of the rear vehicle and performs speed planning or lane change control on the front vehicle, thereby achieving the purpose of reducing the risk of rear-end collision. Compared with an early warning method, the active control method avoids rear-end collision by intervening the vehicle operation system, but when the front vehicle does not have the safe space and conditions for accelerating and changing lanes, especially under the scene of multi-train running, the searching for the safe space for realizing acceleration and changing lanes and the completion of the active collision avoidance function can not be guaranteed within limited time, and even the collision risk of other traffic participants can be possibly caused, so that more serious accidents are caused. Therefore, current actively controlled methods do not consider the synergy of rear-end collision prevention for each vehicle in the fleet. In addition, the running stability of the vehicle queue is also considered in the rear-end collision prevention active collision avoidance process, so that the fluctuation of the vehicle speed caused by the adjustment of the vehicle speed and the vehicle distance in the queue is avoided, and extra energy consumption is increased.
Disclosure of Invention
Aiming at the defects and shortcomings in the prior art, the invention provides a vehicle queue rear-end collision prevention active obstacle avoidance cooperative control method which carries out rear-end collision prevention active obstacle avoidance control by preferentially adjusting the inter-vehicle distance in the queue and improving the pilot vehicle speed, is suitable for the rear-end collision prevention active control of a single vehicle or multiple vehicles, has wider application range and reduces the risk of chain rear-end collision.
The invention is achieved by the following measures:
a vehicle queue rear-end collision prevention active collision avoidance cooperative control method is characterized by comprising the following steps that 1+ n vehicles are contained in a vehicle queue, n is larger than or equal to 0, and each vehicle is provided with a sensor, a GPS and an MPC controller:
step 1: acquiring the speed v of the vehicle behind at the moment i through a sensor rear Speed v of vehicles at the end of the queue n Actual inter-vehicle distance d between rear vehicle and queue tail vehicle rear And calculating the acceleration a of the rear vehicle rear ；
Step 2: the actual distance d between the rear vehicle and the queue tail vehicle rear Distance d from rear-end collision risk vehicle risk Comparing, the distance d between vehicles at risk of rear-end collision risk According to the expected headway t of the queue h And a parking distance d 0 The formula is as follows: d risk ＝v rear ·t h +d 0 ；
And step 3: if the time of collision between the queue tail car and the rear car is less than the time threshold value, that is
Figure BDA0003588346070000021
The queue tail car collides according to the rear-end collision time t c And time threshold
Figure BDA0003588346070000022
Calculating the distance d between the vehicle and the rear vehicle safe Time to rear-end collision t c Calculated as follows:
Figure BDA0003588346070000023
safety vehicle spacing d safe Calculated according to the following formula:
Figure BDA0003588346070000024
and 4, step 4: if the inter-vehicle distance in the vehicle queue is larger than the minimum safe inter-vehicle distance, i.e. d j ＞d min The safe rear-end collision preventing vehicle-to-vehicle distance and the final vehicle-to-vehicle distance required by each vehicle are cooperatively realized in the queue rear-end vehicle calculation queue
Figure BDA0003588346070000025
Final vehicle spacing
Figure BDA0003588346070000026
The calculation formula of (a) is as follows:
Figure BDA0003588346070000027
minimum safe inter-vehicle distance d in queue min From the vehicle speeds of the preceding and following vehicles, the minimum braking deceleration of the vehicle j
Figure BDA0003588346070000028
And calculating the communication delay and the total brake reaction time tau, wherein the calculation formula is as follows:
Figure BDA0003588346070000029
the queue tail vehicle calculates the expected vehicle distance of each vehicle in the queue required by rear-end collision prevention, and distributes the vehicle distance information to each vehicle in the queue;
and 5: the method comprises the following steps that (1) the vehicles in a queue track expected vehicle distance and expected vehicle speed by adopting an MPC controller, and the acceleration of the vehicles in the queue is calculated by a rolling optimization method;
step 6: and (3) converting the acceleration signal into an accelerator opening and a brake oil pressure by the bottom layer controller, controlling the running speed of the vehicle, and repeating the step 1 after the execution is finished.
In step 2 of the invention, if the collision time of the queue tail car and the rear car is not less than the time threshold, namely
Figure BDA00035883460700000210
And 5, the vehicle queue runs according to the original expected vehicle speed and the expected inter-vehicle distance, and step 5 is executed.
In step 3 of the present invention, if the collision time is not less than the time, step 5 is executed.
In step 4, if the inter-vehicle distance in the queue is not larger than the minimum safe inter-vehicle distance, the queue tail vehicle transmits the speed information of the rear vehicle to the queue pilot vehicle, the pilot vehicle takes the speed of the rear vehicle as the expected speed, and then step 5 is executed.
In step 4 of the invention, in order to prevent the problem of back-and-forth fluctuation of the vehicle speed in the vehicle distance tracking process caused by a larger difference between the expected vehicle distance of each vehicle in the queue and the current vehicle distance, the change rule of the distance between the adjacent mass blocks in the compression process of the mass-spring-damping system is adopted to compare the change of the vehicle distance in the queue, and the expected vehicle distance of the vehicle j at the next moment is obtained
Figure BDA00035883460700000211
Calculated according to the following formula:
Figure BDA0003588346070000031
in the step 5 of the invention, after the vehicles in the queue receive the active collision avoidance information of preventing rear-end collision of the vehicles in the queue, the information of the expected distance between the vehicles and the expected speed is updated, the expected distance between the vehicles and the expected speed are tracked by adopting the MPC controller, and the optimal acceleration of the vehicles in the queue is realized by a rolling optimization method, and the MPC controller takes the four contents into consideration in the performance function: (a) in the aspect of car following safety, the car distance is ensured to be within a safety range; (b) in the aspect of fuel economy, the acceleration of the vehicle is ensured to be within a certain range and not to generate excessive fluctuation; (c) in the aspect of driving comfort, the acceleration increment is ensured to be within a certain range; (d) considering the actuator saturation phenomenon, the expected acceleration is not more than the maximum acceleration which can be achieved under the current speed of the vehicle, and the performance function expression is as follows:
J(x(k),ΔU(k))＝||P y (Y p -Y ref )|| 2 +||P u ΔU(k)|| 2
s.t.d j ≥d min
a min ≤a≤a max
Δa min ≤Δa≤Δa min
Figure BDA0003588346070000032
and the bottom controller of the vehicle chassis converts the expected acceleration calculated by the MPC controller into the opening degree of the throttle and the braking oil pressure to control the running speed of the vehicle.
Compared with the prior art of preventing rear-end collision of vehicles, the method and the device have the advantages that the rear-end collision prevention active obstacle avoidance control is performed by preferentially adjusting the inter-vehicle distance in the queue and improving the pilot vehicle speed around the problems that the inter-vehicle distance in the vehicle queue is small and the risk of occurrence of the chain rear-end collision accident is large, the method and the device are suitable for the rear-end collision prevention active control of a single vehicle or multiple vehicles, the application range is wider, and the risk of chain rear-end collision caused by the fact that whether an acceleration collision avoidance space exists or not is not considered when the current technology only aims at the rear-end collision prevention control of the single vehicle is reduced. The invention selects different collision avoidance measures by analyzing the driving state of the rear vehicle. Particularly, aiming at the condition that the rear-end collision accident is caused by overlong braking distance caused by objective reasons such as reduction of brake efficiency, rain, snow, weather, slippery road and the like, the method of compressing the inter-vehicle distance in the queue is adopted to actively avoid collision, and the influence of collision avoidance on other traffic participants in the vehicle queue can be effectively reduced. The invention describes the change of the expected inter-vehicle distance when the vehicle queue is in collision avoidance by adopting the displacement rule of each mass block of the mass-spring-damping system when the mass-spring-damping system is compressed, and after the elastic coefficient and the damping coefficient are properly calibrated, the expected inter-vehicle distance change curve has the characteristics of smoothness, rapidness and stability, and is favorable for the stability of the speed of the vehicles in the queue. Meanwhile, under the condition of considering communication delay and brake delay total time, the minimum safe inter-vehicle distance is calculated and maintained, and the safety of vehicles in the queue is guaranteed. The invention adopts an MPC controller to track the expected distance between vehicles and the expected speed of the vehicles and adopts a rolling optimization method to optimize the acceleration of the vehicles in the queue. The MPC controller performance function restrains the acceleration and the acceleration variation, and effectively ensures the following safety, the fuel economy and the driving comfort.
Drawings
Fig. 1 is a schematic diagram of rear-end collision prevention and active collision avoidance of a vehicle queue.
FIG. 2 is a flow chart of the present invention.
Fig. 3 is a graph showing the change of the active collision avoidance position of the four-vehicle queue in the embodiment of the present invention.
Fig. 4 is a graph showing the distance change between four vehicle trains in the embodiment of the present invention.
Fig. 5 is a graph showing the change of the active collision avoidance speed of the four-vehicle queue in the embodiment of the invention.
The specific implementation mode is as follows:
the following description will be made in further detail with reference to the accompanying drawings.
As shown in FIG. 1, the number of vehicles is n +1(n ≧ 0) in the queue, and the vehicles in the queue monitor their own state information (position x) according to GPS, radar, vehicle speed sensor, etc j Velocity v j Acceleration a j And the distance d between the cars j ) When the vehicle queue is running stably
Figure BDA0003588346070000041
Vehicle distance
Figure BDA0003588346070000042
Each vehicle in the queue can send and receive information through a wireless communication technology, and the rear part of the tail vehicle of the queue is provided with a millimeter wave radar, an ultrasonic sensor and the like to calculate the information of the rear vehicle such as the speed, the acceleration, the distance and the like.
The embodiment provides a vehicle queue rear-end collision prevention active collision avoidance cooperative control method, which comprises the following steps:
step S1, the queue tail vehicle calculates the rear vehicle speed v according to the sensor information rear Acceleration a rear And the distance d between the two cars rear And the like; the queue tail car is a vehicle n at the rearmost of the vehicle queue; the rear vehicle is a vehicle behind the queue tail vehicle; vehicle spacing d rear The distance between the tail of the queue tail car and the head of the rear car is calculated;
step S2, the actual distance d between the rear vehicle and the queue tail vehicle is calculated rear And the distance d between vehicles at risk of rear-end collision risk Making a comparison, i.e. d rear ≤d rise If yes, entering a rear-end collision risk area, entering a step S3, and otherwise, entering a step S5; rear-end collision risk vehicle interval d risk The expected headway t of the queue h And a parking distance d 0 The formula is as follows: d risk ＝v rear ·t h +d 0 Desired headway t h Distance d from parking 0 T can be generally selected according to the inter-vehicle distance of the vehicle queue h ＝1s～2s，d 0 ＝1m。
Step S3, judging the rear-end collision risk according to the collision time and the time threshold; if it is
Figure BDA0003588346070000043
The risk of rear-end collision is large, and the step S41 is carried out by compressing the train interval of the train; if it is
Figure BDA0003588346070000044
The risk of rear-end collision is small, and the step S5 is entered; the rear-end collisionTime t c The calculation formula is as follows:
Figure BDA0003588346070000045
time to collision threshold
Figure BDA0003588346070000046
The factors influencing the inter-vehicle response speed can be selected according to the length of the vehicle queue, the communication period and the like, such as
Figure BDA0003588346070000047
Step S41, calculating the expected inter-vehicle distance required to be reached for completing active obstacle avoidance according to the state information of the rear vehicle, wherein the method comprises the following three contents:
step S411, the queue tail vehicle collides according to the rear-end collision time t c And time threshold
Figure BDA0003588346070000048
Analysis of the inter-vehicle distance d required to maintain safety with the rear vehicle safe . The safe distance d between the rear vehicles safe According to the rear vehicle speed v rear Speed v of queue tail car n And a time threshold
Figure BDA0003588346070000051
And calculating according to the following formula:
Figure BDA0003588346070000052
step S412, if the distance between vehicles in the vehicle queue is larger than the minimum safe distance, namely d j ＞d min If the vehicle queue has a space for compressing the inter-vehicle distance, the step S413 is performed; otherwise, the vehicle queue cannot avoid the collision by compressing the inter-vehicle distance, and the process proceeds to step S42. Minimum safe inter-vehicle distance d in the queue min The speed of front and rear vehicles and the minimum braking deceleration a m And the communication delay and the total brake reaction time tau are calculated, and the calculation formula is shown as follows:
Figure BDA0003588346070000053
step S413, the queue tail vehicle calculates the expected inter-vehicle distance of each vehicle in the queue required by preventing rear-end collision
Figure BDA0003588346070000054
And distributing the inter-vehicle distance information to each vehicle in the queue, the expected inter-vehicle distance of each vehicle
Figure BDA0003588346070000055
Will converge to the final inter-vehicle distance
Figure BDA0003588346070000056
In order to prevent the problem that the expected inter-vehicle distance of each vehicle in the queue is greatly different from the current inter-vehicle distance to cause the back-and-forth fluctuation of the vehicle speed in the inter-vehicle distance tracking process, the change rule of the adjacent mass block distance in the compression process of the mass-spring-damping system is adopted to simulate the change of the inter-vehicle distance in the queue, and the expected inter-vehicle distance of the vehicle j at the next moment is obtained
Figure BDA0003588346070000057
Can be calculated according to the following formula:
Figure BDA0003588346070000058
in the formula, k, c, m and T are respectively an elastic coefficient, a damping coefficient, a mass coefficient and a calculation period, and the elastic coefficient, the damping coefficient and the mass coefficient can be calibrated according to the conditions of the mass, the response time and the like of the vehicle; for example, a vehicle with a mass of 1820kg, k-300N/m, c-794N/(m/s), m-182 kg and T-0.05 s may be selected;
step S42, if the queue tail vehicle judges that the condition of active collision avoidance by compressing the inter-vehicle distance is not met according to the state information of the rear vehicle and the state information of each vehicle in the queue, the command pilot vehicle drives the rear vehicle speed as the expected vehicle speed;
as shown in fig. 4 and 5, the initial speed of the vehicle queue is 60km/h, the initial inter-vehicle distance is 17.7m, and the initial speed of the rear vehicle is 101 km/h; when the time of collision is 0-2.7s, the time of collision is greater than a time threshold value, and the vehicle queue runs according to the initial vehicle speed and the initial vehicle distance; when the collision time is less than the time threshold value in 2.7s, the vehicle queue begins to increase the collision time with the rear vehicle by adopting a method of compressing the distance between the vehicles; at 6.7s, the rear vehicle starts to decelerate; when the time of collision is 8.9s, the collision time is greater than the time threshold, the command of compressing the distance between the vehicles is finished, and the distance between the rear vehicle and the queue tail vehicle reaches the minimum; because the following vehicle speed is greater than that of the pilot vehicle, the inter-vehicle distance in the queue is further compressed to finally reach 7.3m, and the inter-vehicle distance of the rear vehicle reaches 8.5 m; if a rear-end collision prevention single-vehicle control method is adopted and a lane changing method is not adopted, rear vehicles and queue tail vehicles can collide with the rear end in 7.4 s; therefore, the cooperative control method can generate a larger longitudinal space for collision avoidance in a short time, does not need to change lanes and avoid obstacles, and does not influence other traffic participants outside the vehicle queue; and step S5, after the vehicles in the queue receive the queue tail-end collision prevention active collision avoidance information, updating the expected inter-vehicle distance and expected vehicle speed information, tracking the expected inter-vehicle distance and the expected vehicle speed by adopting an MPC controller, and optimizing the acceleration of the vehicles in the queue by a rolling optimization method. Further, the MPC controller performance function takes into account four aspects: (a) in the aspect of car following safety, the car distance is ensured to be within a safety range; (b) in the aspect of fuel economy, the acceleration of the vehicle is ensured to be within a certain range and not to generate excessive fluctuation; (c) in the aspect of driving comfort, the acceleration increment is ensured to be within a certain range; (d) considering the actuator saturation phenomenon, the expected acceleration is not larger than the maximum acceleration which can be achieved at the current speed of the vehicle, and the performance function expression is as follows:
J(x(k),ΔU(k))＝||P y (Y p -Y ref )|| 2 +||P u ΔU(k)|| 2
s.t.d j ≥d min
a min ≤a≤a max ；
Δa min ≤Δa≤Δa min
Figure BDA0003588346070000061
in the formula, F tmax Maximum driving force of vehicle, F f To rolling resistance, F i As slope resistance, F w Is the air resistance;
step S6, converting the expected acceleration calculated by the MPC controller into an accelerator opening and a brake oil pressure by a bottom controller of the vehicle chassis, and controlling the running speed of the vehicle;
finally, if the actual distance d between the rear vehicle and the queue tail vehicle rear Greater than the rear-end collision risk distance d risk I.e. d rear ＞d rise The rear-end collision risk is considered to be relieved, the vehicle queue recovers the original expected inter-vehicle distance to drive,
Figure BDA0003588346070000062
the invention aims at solving the problems that the distance between vehicles in a vehicle queue is small and the risk of occurrence of the chain rear-end collision accident is high, provides two methods of preferentially adjusting the distance between the vehicles in the queue and improving the piloting vehicle speed to carry out rear-end collision prevention active obstacle avoidance control, is suitable for rear-end collision prevention active control of a single vehicle or multiple vehicles, has a wider application range, and reduces the risk of the chain rear-end collision caused by the fact that whether an accelerating collision avoidance space exists or not is not considered when the current technology only carries out rear-end collision prevention control on the single vehicle. The invention selects different collision avoidance measures by analyzing the running state of the rear vehicle. Particularly, aiming at the condition that the rear-end collision accident is caused by overlong braking distance caused by objective reasons such as reduced brake efficiency, slippery road in rainy and snowy weather and the like, the method of compressing the inter-vehicle distance in the queue is adopted to actively avoid collision, and the influence of collision avoidance on other traffic participants in the vehicle queue can be effectively reduced. The invention describes the change of the expected inter-vehicle distance when the vehicle queue is in collision avoidance by adopting the displacement rule of each mass block of the mass-spring-damping system when the mass-spring-damping system is compressed, and after the elastic coefficient and the damping coefficient are properly calibrated, the expected inter-vehicle distance change curve has the characteristics of smoothness, rapidness and stability, and is favorable for the stability of the speed of the vehicles in the queue. Meanwhile, under the condition of considering communication delay and brake delay total time, the minimum safe inter-vehicle distance is calculated and maintained, and the safety of vehicles in the queue is guaranteed. The invention adopts an MPC controller to track the expected distance between vehicles and the expected speed, and the optimal acceleration of the vehicles in the queue is realized by a rolling optimization method. The MPC controller performance function restrains the acceleration and the acceleration variation, and effectively ensures the following safety, the fuel economy and the driving comfort.

Claims (6)

1. A vehicle queue rear-end collision prevention active collision avoidance cooperative control method is characterized by comprising 1+ n vehicles, wherein n is more than or equal to 0, and each vehicle is provided with a sensor, a GPS (global positioning system) and an MPC (personal computer) controller, and the method is characterized by comprising the following steps of:
step 1: acquiring the speed v of the vehicle behind at the moment i through a sensor rear Speed v of vehicles at the end of the queue n Actual inter-vehicle distance d between rear vehicle and queue tail vehicle rear And calculating the acceleration a of the rear vehicle rear ；
Step 2: actual distance d between the rear vehicle and the queue tail vehicle rear Distance d from rear-end collision risk vehicle risk Comparing, the distance d between vehicles at risk of rear-end collision risk According to the expected headway t of the queue h And a parking distance d 0 The formula is as follows:
d risk ＝v rear ·t h +d 0 ；
and step 3: if the time of collision between the queue tail car and the rear car is less than the time threshold value, that is
Figure FDA0003588346060000011
The queue tail vehicle collides according to the rear-end collision time t c And time threshold
Figure FDA0003588346060000012
Calculating the distance d between the vehicle and the rear vehicle safe Time to rear-end collision t c Calculated as follows:
Figure FDA0003588346060000013
safety vehicle spacing d safe Calculated according to the following formula:
Figure FDA0003588346060000014
and 4, step 4: if the inter-vehicle distance in the vehicle queue is larger than the minimum safe inter-vehicle distance, i.e. d j ＞d min The safe rear-end collision preventing vehicle-to-vehicle distance and the final vehicle-to-vehicle distance required by each vehicle are cooperatively realized in the queue rear-end vehicle calculation queue
Figure FDA0003588346060000015
Final vehicle spacing
Figure FDA0003588346060000016
The calculation formula of (a) is as follows:
Figure FDA0003588346060000017
minimum safe inter-vehicle distance d in queue min From the vehicle speeds of the preceding and following vehicles, the minimum braking deceleration of the vehicle j
Figure FDA0003588346060000018
And the communication delay and the total reaction time tau of the brake are calculated, and the calculation formula is as follows:
Figure FDA0003588346060000019
the queue tail vehicle calculates the expected vehicle distance of each vehicle in the queue required by rear-end collision prevention, and distributes the vehicle distance information to each vehicle in the queue;
and 5: the method comprises the following steps that (1) the vehicles in a queue track expected vehicle distance and expected vehicle speed by adopting an MPC controller, and the acceleration of the vehicles in the queue is calculated by a rolling optimization method;
step 6: and (3) converting the acceleration signal into an accelerator opening and a brake oil pressure by the bottom controller, controlling the running speed of the vehicle, and repeating the step 1 after the execution is finished.
2. The active collision avoidance cooperative control method for vehicle queue rear-end collision prevention according to claim 1, wherein in step 2, if the collision time between the queue tail vehicle and the rear vehicle is not less than the time threshold, the time is
Figure FDA00035883460600000110
And 5, the vehicle queue runs according to the original expected vehicle speed and the expected inter-vehicle distance, and step 5 is executed.
3. The vehicle queue rear-end collision prevention active collision avoidance cooperative control method according to claim 1, wherein in the step 3, if the collision time is not less than the time, the step 5 is executed.
4. The vehicle queue rear-end collision avoidance active collision avoidance cooperative control method according to claim 1, wherein in the step 4, if the inter-vehicle distance in the queue is not larger than the minimum safe inter-vehicle distance, the queue tail vehicle transmits the rear vehicle speed information to the queue pilot vehicle, the pilot vehicle takes the rear vehicle speed as the expected speed, and then the step 5 is executed.
5. The active collision avoidance cooperative control method for vehicle queue rear-end collision prevention according to claim 1, wherein in step 4, in order to prevent the problem of back-and-forth fluctuation of the vehicle speed in the process of vehicle distance tracking caused by a larger difference between the expected vehicle distance and the current vehicle distance of each vehicle in the queue, the change rule of the adjacent mass block distance in the compression process of the mass-spring-damping system is adopted, and the expected vehicle distance of the vehicle j at the next moment is compared with the change of the vehicle distance in the queue, so that the expected vehicle distance of the vehicle j at the next moment is obtained
Figure FDA0003588346060000021
Calculated according to the following formula:
Figure FDA0003588346060000022
6. the vehicle queue rear-end collision avoidance active collision avoidance cooperative control method according to claim 1, characterized in that in step 5, after the vehicles in the queue receive the queue rear-end collision avoidance active collision avoidance information, the expected inter-vehicle distance and the expected vehicle speed information are updated, the expected inter-vehicle distance and the expected vehicle speed are tracked by using an MPC controller, and the optimal acceleration of the vehicles in the queue is optimized by a rolling optimization method, and the MPC controller performance function takes four aspects into consideration: (a) in the aspect of car following safety, the car distance is ensured to be within a safety range; (b) in the aspect of fuel economy, the acceleration of the vehicle is ensured to be within a certain range and not to generate excessive fluctuation; (c) in the aspect of driving comfort, the acceleration increment is ensured to be within a certain range; (d) considering the actuator saturation phenomenon, the expected acceleration is not more than the maximum acceleration which can be reached at the current speed of the vehicle, and the performance function expression is as follows:
J(x(k),ΔU(k))＝||P y (Y p -Y ref )|| 2 +||P u ΔU(k)|| 2
s.t.d j ≥d min
a min ≤a≤a max
Δa min ≤Δa≤Δa min
Figure FDA0003588346060000023
and a bottom controller of the vehicle chassis converts the expected acceleration calculated by the MPC controller into an accelerator opening and brake oil pressure to control the running speed of the vehicle.
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