CN115131959B - 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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CN115131959B
CN115131959B CN202210368980.5A CN202210368980A CN115131959B CN 115131959 B CN115131959 B CN 115131959B CN 202210368980 A CN202210368980 A CN 202210368980A CN 115131959 B CN115131959 B CN 115131959B
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vehicle
queue
distance
vehicles
speed
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CN115131959A (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
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to the technical field of vehicle cooperative self-adaptive cruising, in particular to a vehicle queue rear-end collision prevention active collision avoidance cooperative control method, which is used for performing rear-end collision prevention active collision avoidance control by adjusting the distance between vehicles in a queue and improving the speed of a piloted vehicle, describing the change of the distance between vehicles in the vehicle queue during collision avoidance by adopting the displacement rule of each mass block when a mass-spring-damping system is compressed, ensuring the expected distance change curve to have the characteristics of smoothness, rapidness and stability after properly calibrating an elastic coefficient and a damping coefficient, being beneficial to the stability of the speed of the vehicles in the queue, calculating and maintaining the minimum safe distance between vehicles under the condition of considering the communication delay and the total time of brake delay, ensuring the safety of the vehicles in the queue, tracking the expected distance between vehicles and the expected speed by adopting an MPC controller, and effectively ensuring the optimal acceleration of the vehicles in the queue by a rolling optimization method.

Description

Vehicle queue rear-end collision prevention active collision avoidance cooperative control method
Technical field:
the invention relates to the technical field of vehicle cooperative self-adaptive cruise, in particular to a vehicle queue rear-end collision prevention active collision avoidance cooperative control method which is suitable for single vehicle or multiple vehicles, has wider application range and reduces the risk of continuous rear-end collision.
Background
Vehicle queuing, also known as cooperative adaptive cruise (Cooperative Adaptive Cruise Control, CACC), is a mode of cooperative driving of a group of vehicles having the same mission by means of V2X communication technology. The vehicles run in a row with smaller safety inter-vehicle distances, so that the air resistance of the following vehicles can be effectively reduced, and the energy consumption is reduced; in addition, the 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 jams. Statistical data shows that the rear-end collision accident accounts for 45.7% of the total high-speed accident, the urban road proportion is larger, the inter-vehicle distance in the vehicle queue is relatively smaller, and if the rear-end collision risk exists, the series rear-end collision accident is easy to occur, so that the serious loss is caused. The main reason for the occurrence of rear-end collision accidents is that the rear vehicle cannot keep a safe vehicle distance with the front vehicle, so that the front vehicle with the rear-end collision prevention system can effectively avoid collision with the rear vehicle, and rear-end collision avoidance is one of the important points of vehicle queuing technology.
At present, the method for preventing rear-end collision of vehicles is divided into an early warning method and an active control method. The rear-end collision prevention early warning method calculates parameters such as vehicle distance, relative speed, collision time and the like between front and rear vehicles according to vehicle sensor information, adopts methods such as warning signs, warning lamps, warning sounds and the like, prompts a rear-end driver to have rear-end collision risks, and notices to keep a safe vehicle distance, but the method cannot solve the rear-end collision risks 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 such as the speed and the acceleration of the rear-end vehicle and performs speed planning or lane change control on the front-end vehicle, so that the aim of reducing the rear-end collision risk is fulfilled. Compared with the early warning method, the active control method avoids rear-end collision by intervening in a vehicle running system, but can not ensure that the safe space for realizing acceleration and lane changing is searched and the active collision avoidance function is completed in a limited time when the front vehicle does not have the safe space and conditions for accelerating and lane changing, especially under the scene of multi-vehicle queuing driving, and even the collision risk of other traffic participants can be caused, so that more serious accidents are caused. Therefore, the current active control method does not consider the synergy of the rear-end collision prevention of each vehicle in the queue. In addition, stability of vehicle queue running should be considered in the process of preventing rear-end collision and active collision, so that fluctuation of vehicle speed caused by adjustment of vehicle speed and 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 collision avoidance cooperative control method which is used for preventing rear-end collision avoidance active control of single vehicles or multiple vehicles, has wider application range and reduces the risk of continuous rear-end collision, and is used for preventing rear-end collision active collision avoidance control by two methods of adjusting the distance between vehicles in a queue and improving the speed of a piloted vehicle.
The invention is achieved by the following measures:
a vehicle queue rear-end collision prevention active collision avoidance cooperative control method is characterized in that the vehicle queue comprises 1+n vehicles, n is more than or equal to 0, each vehicle is provided with a sensor, a GPS and an MPC controller, and the method comprises the following steps:
step 1: acquiring the speed v of the vehicle after the moment i through a sensor rear Speed v of train tail n Actual distance d between rear car and train tail car rear And calculates the acceleration a of the rear vehicle rear ；
Step 2: actual distance d between rear car and queue tail car rear Distance d from rear-end collision risk vehicle risk Comparing the rear-end collision risk inter-vehicle distance d risk According to the expected headway t of the queue h Distance d of parking 0 The calculation formula is as follows: d, d risk ＝v rear ·t h +d 0 ；
Step 3: if the collision time of the train tail car and the rear car is less than the time threshold, namelyThe queue tail car is based on the rear-end collision time t c And time threshold->Calculating a distance d between the vehicle and the rear vehicle for keeping safety safe Time t of tail-following collision c Calculated as follows: />Safety distance d between vehicles safe Calculated according to the following formula: />
Step 4: if the inter-vehicle distance in the vehicle queue is greater than the minimum safe distance, d j ＞d min In-queue collaborative implementation of queue tail car calculationRear-end collision prevention safety vehicle spacing, and final vehicle spacing required to be achieved by each vehicleFinal inter-vehicle distance->The calculation formula of (2) is as follows: />Minimum safe inter-vehicle distance d in a queue min By the speed of the front and rear vehicle, the minimum braking deceleration of vehicle j +.>And the communication delay and the total brake reaction time tau are calculated, and the calculation formula is as follows:
the train tail car calculates the expected distance between the vehicles in the train required by rear-end collision prevention, and distributes the distance information to the vehicles in the train;
step 5: the vehicle in the queue tracks the expected vehicle distance and the expected vehicle speed by adopting an MPC controller, and the acceleration of the vehicle in the queue is calculated by a rolling optimization method;
step 6: and (3) converting the acceleration signal into the accelerator opening and the 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 present invention, if the collision time between the train tail car and the rear car is not less than the time threshold, namelyThe vehicle queue runs according to the original expected speed and the expected distance between the vehicles, and the step 5 is executed.
In step 3 of the present invention, if the collision time is not less than the time and the time, step 5 is executed.
In step 4 of the invention, if the inter-vehicle distance in the queue is not greater than the minimum safe inter-vehicle distance, the queue tail vehicle transmits the information of the speed of the rear vehicle to the queue pilot vehicle, and 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 present invention, in order to prevent the problem of the back and forth fluctuation of the vehicle speed in the course of tracking the inter-vehicle distance caused by the larger difference between the expected inter-vehicle distance of each vehicle in the queue and the current inter-vehicle distance, the change rule of the inter-vehicle distance of the adjacent mass blocks in the course of compressing the mass-spring-damping system is adopted to simulate the change of the inter-vehicle distance in the queue, and then the expected inter-vehicle distance of the vehicle j at the next moment is obtainedCalculated according to the following formula:
in the step 5, after the vehicles in the queue receive the active collision avoidance information of the rear-end collision prevention of the queue tail vehicle, the information of the expected vehicle distance and the expected vehicle speed is updated, the MPC controller is adopted to track the expected vehicle distance and the expected vehicle speed, and the optimal acceleration of the vehicles in the queue is realized through a rolling optimization method, and the performance function of the MPC controller considers the four aspects: (a) In the aspect of vehicle following safety, the distance between vehicles 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 no excessive fluctuation occurs; (c) In terms of driving comfort, the acceleration increment is ensured to be in a certain range; (d) Considering the phenomenon of actuator saturation, the expected acceleration is not greater than the maximum acceleration that 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
the bottom controller of the vehicle chassis converts the expected acceleration calculated by the MPC controller into accelerator opening degree and brake oil pressure, and controls the running speed of the vehicle.
Compared with the existing rear-end collision prevention technology of vehicles, the rear-end collision prevention method provided by the invention has the advantages that the rear-end collision prevention active obstacle avoidance control is preferably carried out by two methods of adjusting the inter-vehicle distance in the queue and improving the speed of the piloted vehicle, the rear-end collision prevention active obstacle avoidance control is suitable for the rear-end collision prevention active control of single vehicles or multiple vehicles, the application range is wider, and the risk that whether the rear-end collision prevention space is accelerated or not is not considered when the rear-end collision prevention control is carried out only on the single vehicles in the prior art is reduced, so that the continuous rear-end collision is caused is reduced. According to the invention, different collision avoidance measures are selected by analyzing the running state of the rear vehicle. Particularly, the method actively prevents collision by adopting a mode of compressing the inter-vehicle distance in the train aiming at the situation that the rear-end collision accident occurs due to overlooking braking distance caused by objective reasons such as reduced efficiency of the brake, slippery road in rainy and snowy weather and the like, and can effectively reduce the influence of collision prevention of the train on other traffic participants. The invention adopts the law of displacement of each mass block when the mass-spring-damping system is compressed to describe the change of the inter-vehicle distance when the vehicle is in queue collision avoidance, 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 beneficial to the stability of the vehicle speed in the queue. Meanwhile, under the condition of considering communication delay and total brake delay time, the minimum safety inter-vehicle distance is calculated and maintained, and the safety of vehicles in the queue is ensured. The invention adopts the MPC controller to track the expected distance between vehicles and the expected speed of vehicles, and the optimal acceleration of the vehicles in the queue is optimized by a rolling optimization method. The MPC controller performance function constrains the acceleration and acceleration variation, and effectively ensures the following safety, fuel economy and driving comfort.
Drawings
FIG. 1 is a schematic view of an active collision avoidance system for preventing rear-end collisions in a vehicle queue according to the present invention.
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 according to the embodiment of the invention.
FIG. 4 is a graph showing the variation of the distance between the active collision avoidance vehicles in the four-vehicle queue according to the embodiment of the invention.
FIG. 5 is a graph showing the change of the active collision avoidance speed of a four-vehicle train in an embodiment of the present invention.
The specific embodiment is as follows:
the invention will be described in further detail with reference to the accompanying drawings.
As shown in FIG. 1, the number of vehicles in the queue is n+1 (n.gtoreq.0), 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 inter-vehicle distance d j ) Vehicle speed when the vehicle train is stably runningInter-vehicle distance->Each vehicle in the queue can send and receive information through a wireless communication technology, and the rear part of the tail car of the queue is provided with millimeter wave radar, an ultrasonic sensor and the like for calculating the information such as the speed, the acceleration, the distance between vehicles and the like of the rear car.
The embodiment provides a vehicle queue rear-end collision prevention active collision avoidance cooperative control method, which comprises the following steps:
step S1, calculating the speed v of the rear vehicle by the queue tail vehicle according to the sensor information rear Acceleration a rear And inter-space distance d rear Information such as the like; wherein the train tail car is the vehicle n at the rearmost of the train trains; the rear vehicle is a vehicle behind the queue tail vehicle; distance d between vehicles rear Is the distance between the tail of the train tail car and the head of the rear car;
step S2, the actual vehicle distance d between the rear vehicle and the queue tail vehicle rear And rear-end collision risk inter-vehicle distance d risk Comparison, i.e. d rear ≤d rise If the rear vehicle enters the rear-end collision risk area, the step S3 is carried out, and if the rear vehicle does not enter the rear-end collision risk area, the step S5 is carried out; rear-end collision risk inter-vehicle distance d risk Can be according toQueue expected headway t h Distance d of parking 0 The calculation formula is as follows: d, d risk ＝v rear ·t h +d 0 Desired headway t h Distance from parking distance d 0 T can be generally selected according to the distance between vehicles in the vehicle queue h ＝1s～2s，d 0 ＝1m。
Step S3, judging the size of the rear-end collision risk according to the collision time and the time threshold value; if it isThe rear-end collision risk is larger, and the step S41 is performed by compressing the vehicle queue inter-vehicle distance; if->The rear-end collision risk is small, and the step S5 is carried out; the rear-end collision time t c The calculation formula is as follows: />Threshold value of the time to collision->Can be selected according to the length of the vehicle queue and the communication period, etc. which influence the response speed of the distance between vehicles, such as +.>
Step S41, according to the state information of the rear vehicle, calculating an expected inter-vehicle distance required to be achieved for completing the active obstacle avoidance, wherein the method comprises the following three steps:
step S411, the queue tail car is in accordance with the rear-end collision time t c With time thresholdAnalyzing a distance d between vehicles required to keep safety with a rear vehicle safe . The rear vehicle safety distance d safe According to the speed v of the rear vehicle rear Train speed v of train tail car n And time threshold->Calculation ofThe calculation formula is as follows:
step S412, if the inter-vehicle distance in the vehicle queue is greater than the minimum safe distance, d j ＞d min The vehicle queue also has a space for compressing the inter-vehicle distance, and the process proceeds to step S413; otherwise, the vehicle queue cannot avoid collision by compressing the inter-vehicle distance, and the process proceeds to step S42. Minimum safe inter-vehicle distance d in the queue min From the speed of the front and rear vehicles, 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:
step S413, calculating expected inter-vehicle distances of vehicles in the train required for rear-end collision prevention by the train tail carAnd distributing the inter-vehicle distance information to each vehicle in the train, the desired inter-vehicle distance of each vehicle +.>Will converge to the final inter-vehicle distance +>In order to prevent the problem that the expected vehicle distance of each vehicle in the queue is greatly different from the current vehicle distance and causes the back and forth fluctuation of the vehicle speed in the vehicle distance tracking process, the change rule of the distance between adjacent mass blocks in the compression process of a mass-spring-damping system is adopted to simulate the change of the vehicle distance in the queue, and then the expected vehicle distance of the vehicle j at the next moment is equal to the change of the vehicle distance in the queue>The calculation can be performed according to the following formula:
wherein 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 of mass 1820kg may be selected from k=300N/m, c=794n/(m/s), m=182 kg and t=0.05 s;
step S42, if the queue tail car judges that the condition of actively avoiding collision through the compressed inter-vehicle distance is not met according to the state information of the rear car and the state information of each car in the queue, the pilot car is instructed to drive at the speed of the rear car as the expected speed;
as shown in fig. 4 and 5, the initial speed of the vehicle queue is 60km/h, the initial distance between vehicles is 17.7m, and the initial speed of the rear vehicle is 101km/h; when the collision time is 0-2.7s, the collision time 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 smaller than the time threshold value in 2.7s, the vehicle queue starts to increase the collision time with the rear vehicle by adopting a method of compressing the vehicle distance; at 6.7s, the rear vehicle begins to decelerate; when the collision time is greater than the time threshold value in 8.9s, the compressed vehicle spacing instruction is ended, and the distance between the rear vehicle and the queue tail vehicle is minimum; because the speed of the following vehicle is greater than that of the pilot vehicle, the distance between vehicles in the queue is further compressed, and finally reaches 7.3m, and the distance between vehicles behind reaches 8.5m; if the method of controlling the rear-end collision prevention bicycle is adopted and the lane change is not carried out, the rear-end collision of the rear bicycle and the train tail bicycle can be carried out for 7.4 seconds; therefore, the cooperative control method can generate a larger longitudinal space for collision avoidance in a short time, does not need lane changing and obstacle avoidance, and does not influence other traffic participants outside the vehicle queue; and S5, after the vehicles in the queue receive the active collision avoidance information of the queue tail vehicle for preventing rear-end collision, updating the information of the expected vehicle distance and the expected vehicle speed, tracking the expected vehicle distance and the expected vehicle speed by adopting an MPC controller, and optimizing the optimal 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 vehicle following safety, the distance between vehicles 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 no excessive fluctuation occurs; (c) In the aspect of driving comfort, the acceleration increment is ensured to be in a certain range; (d) Considering the saturation phenomenon of the actuator, 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
wherein F is tmax F is the maximum driving force of the vehicle f For rolling resistance, F i For gradient resistance, F w Is air resistance;
s6, the bottom controller of the vehicle chassis converts the expected acceleration calculated by the MPC controller into the accelerator opening and the brake oil pressure, and controls the running speed of the vehicle;
finally, if the actual distance d between the rear car and the queue tail car rear Is larger 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 resumes the original expected inter-vehicle distance running,
the invention surrounds the problem that the vehicle spacing in the vehicle queue is smaller and the risk of the occurrence of the chain rear-end collision accident is larger, and provides the method for carrying out the rear-end collision prevention active obstacle avoidance control by preferably adjusting the vehicle spacing in the queue and improving the speed of the piloted vehicle. According to the invention, different collision avoidance measures are selected by analyzing the running state of the rear vehicle. Particularly, the method actively prevents collision by adopting a mode of compressing the inter-vehicle distance in the train aiming at the situation that the rear-end collision accident occurs due to overlooking braking distance caused by objective reasons such as reduced efficiency of the brake, slippery road in rainy and snowy weather and the like, and can effectively reduce the influence of collision prevention of the train on other traffic participants. The invention adopts the law of displacement of each mass block when the mass-spring-damping system is compressed to describe the change of the inter-vehicle distance when the vehicle is in queue collision avoidance, 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 beneficial to the stability of the vehicle speed in the queue. Meanwhile, under the condition of considering communication delay and total brake delay time, the minimum safety inter-vehicle distance is calculated and maintained, and the safety of vehicles in the queue is ensured. The invention adopts the MPC controller to track the expected distance between vehicles and the expected speed of vehicles, and the optimal acceleration of the vehicles in the queue is optimized by a rolling method. The MPC controller performance function constrains acceleration and acceleration variation, and effectively guarantees vehicle following safety, fuel economy and travelling comfort.

Claims (1)

1. A vehicle queue rear-end collision prevention active collision avoidance cooperative control method is characterized in that the vehicle queue comprises 1+n vehicles, n is more than or equal to 0, each vehicle is provided with a sensor, a GPS and an MPC controller, and the method comprises the following steps:
step 1: acquiring the speed v of the vehicle after the moment i through a sensor rear Speed v of train tail n Actual distance d between rear car and train tail car rear And calculates the acceleration a of the rear vehicle rear ；
Step 2: actual distance d between rear car and queue tail car rear Distance d from rear-end collision risk vehicle risk Comparing the rear-end collision risk inter-vehicle distance d risk According to the expected headway t of the queue h Distance d of parking 0 The calculation formula is as follows: d, d risk ＝v rear ·t h +d 0 ；
Step 3: if the collision time of the train tail car and the rear car is less than the time threshold, namelyThe queue tail car is in accordance with the rear-end collision time t c And time threshold->Calculating a distance d between the vehicle and the rear vehicle for keeping safety safe Time t of rear-end collision c Calculated as follows: />Safety distance d between vehicles safe Calculated according to the following formula: />
Step 4: if the inter-vehicle distance in the vehicle queue is greater than the minimum safe distance, d j ＞d min The rear-end collision prevention safety inter-vehicle distance is cooperatively realized in the queue tail vehicle calculation queue, and the final inter-vehicle distance required to be reached by each vehicle is calculatedFinal inter-vehicle distance->The calculation formula of (2) is as follows: />Minimum safe inter-vehicle distance d in a queue min By the speed of the front and rear vehicle, the minimum braking deceleration of vehicle j +.>And the communication delay and the total brake reaction time tau are calculated, and the calculation formula is as follows: />
The train tail car calculates the expected distance between the vehicles in the train required by rear-end collision prevention, and distributes the distance information to the vehicles in the train;
step 5: the vehicle in the queue tracks the expected vehicle distance and the expected vehicle speed by adopting an MPC controller, and the acceleration of the vehicle in the queue is calculated by a rolling optimization method;
step 6: the bottom layer controller converts the acceleration signal into the opening degree of an accelerator and the brake oil pressure, controls the running speed of the vehicle, and repeats the step 1 after the execution is finished; in step 2, if the collision time between the train tail car and the rear car is not less than the time threshold, namelyThe vehicle queue runs according to the original expected speed and the expected distance between the vehicles, and the step 5 is executed; in the step 3, if the collision time is not less than the time threshold, executing the step 5;
in step 4, if the inter-vehicle distance in the queue is not greater than the minimum safe inter-vehicle distance, the queue tail vehicle transmits the information of the speed 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.
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