CN115294763B - Vehicle-road cooperative system applied to intelligent road illumination and control method thereof - Google Patents
Vehicle-road cooperative system applied to intelligent road illumination and control method thereof Download PDFInfo
- Publication number
- CN115294763B CN115294763B CN202210883683.4A CN202210883683A CN115294763B CN 115294763 B CN115294763 B CN 115294763B CN 202210883683 A CN202210883683 A CN 202210883683A CN 115294763 B CN115294763 B CN 115294763B
- Authority
- CN
- China
- Prior art keywords
- road
- vehicle
- section
- illumination
- matrix
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005286 illumination Methods 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 238000005516 engineering process Methods 0.000 claims abstract description 8
- 230000004927 fusion Effects 0.000 claims abstract description 5
- 239000011159 matrix material Substances 0.000 claims description 25
- 230000003044 adaptive effect Effects 0.000 claims description 9
- 230000007704 transition Effects 0.000 claims description 8
- 238000000926 separation method Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000010339 dilation Effects 0.000 claims description 5
- 238000013178 mathematical model Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 abstract description 2
- 206010039203 Road traffic accident Diseases 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000779 smoke Substances 0.000 description 2
- 230000035800 maturation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
-
- 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
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
-
- 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
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/105—Controlling the light source in response to determined parameters
- H05B47/11—Controlling the light source in response to determined parameters by determining the brightness or colour temperature of ambient light
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/105—Controlling the light source in response to determined parameters
- H05B47/115—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/105—Controlling the light source in response to determined parameters
- H05B47/115—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings
- H05B47/125—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings by using cameras
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/175—Controlling the light source by remote control
- H05B47/19—Controlling the light source by remote control via wireless transmission
-
- 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
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Abstract
The invention discloses a vehicle-road cooperative system applied to intelligent road illumination and a control method thereof, and relates to the technical field of illumination equipment. The invention comprises a laser radar, a millimeter wave radar, a camera, an illumination sensor, an edge computing unit and a light controller; the laser radar, the millimeter wave radar and the camera are connected to the edge computing unit through the gateway through Ethernet transmission, and the laser radar, the millimeter wave radar, the camera, the illumination sensor, the edge computing unit and the light controller are all arranged at the entrance of the road. The invention enables the cooperative equipment to effectively build a good driving visual environment in a road section through a series of improvements, is beneficial to optimizing a road lighting system and reduces the operation cost, and the edge computing unit is used for carrying out target detection on traffic flow in the road section through a multi-source information fusion technology so as to judge whether the vehicle is driven in before the road and the position, distance and speed information of the target vehicle.
Description
Technical Field
The invention belongs to the technical field of lighting equipment, and particularly relates to a vehicle-road cooperative system applied to intelligent road lighting and a control method thereof.
Background
With the maturation of smart lighting technology, road lighting is beginning to gradually apply interval segment lighting technology. When a driver drives from a current road section to a next road section, a brightness difference often exists. If the brightness of the lamps in the interval section is improperly regulated, the brightness difference of the transition sections of each interval is too large, and a driver easily generates a black hole effect similar to tunnel illumination in the process of driving from light to dark;
when the driver drives out of the transitional road section of the section, the problem of white hole effect can be generated in the dark-to-light process at the road exit if the brightness difference outside the section is overlarge because the brightness of the lamps in the section is improperly adjusted;
both the conditions affect the driving experience and reduce the comfort for the driver when the vehicle is light, and cause traffic accidents when the vehicle is heavy. Especially in tunnel sections with large traffic flows, the consequences are more serious. According to the related data, the vehicle rear-end collision is the most common accident in traffic accidents at the tunnel portal, and one of the biggest reasons for the vehicle rear-end collision is caused by overlarge brightness difference between the inside and the outside at the tunnel portal;
meanwhile, the tunnel is taken as a relatively closed environment with smaller space, a plurality of tail gases are generated when an automobile runs in a road, the tail gases are not easy to diffuse out, the illumination of a tunnel lamp and the illumination of an automobile headlight are influenced, the tunnel is a factor influencing the sight of a driver, and traffic accidents can be caused.
Disclosure of Invention
The invention aims to provide a vehicle-road cooperative system applied to intelligent road illumination and a control method thereof, so as to solve the problems of the background technology.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a vehicle-road cooperative system applied to intelligent road illumination, which comprises a laser radar, a millimeter wave radar, a camera, an illumination sensor, an edge computing unit and a light controller, wherein the laser radar is used for detecting the illumination of the intelligent road;
the laser radar, the millimeter wave radar and the camera are connected to the edge computing unit through the gateway through Ethernet transmission, and the laser radar, the millimeter wave radar, the camera, the illumination sensor, the edge computing unit and the light controller are all arranged at the entrance of the road.
Further, the illumination sensor is arranged in the road entrance and the road section, a wireless network card module is arranged in the illumination sensor, and the edge computing unit detects targets of traffic in front of the road entrance and in the road through a multi-source information fusion technology.
A vehicle-road cooperative system control method applied to intelligent road illumination is used for any one of the above steps as follows:
s1: in a detection period, if a vehicle target is detected to appear at a position m meters away from a road entrance, judging that the vehicle is about to drive in the period, and calculating the current vehicle speed v according to the time and the position of the occurrence of the two frames of targets, wherein v=s/T, T is the interval time of two frames, and S is the position distance difference of the targets between the two frames; assuming that the target vehicle is at a constant speed v, calculating the time when the target vehicle is about to drive into the road;
s2: on the basis of the calculation result, calculating the time for the target vehicle to reach the road approaching section, the entrance section, the transition section, the middle section, the exit section and the separation section after entering the road;
s3: actively controlling the illumination intensity of each section corresponding to the road according to the time calculated in the step S2;
s4: in one detection period, if the occurrence of a vehicle target cannot be detected at the position m meters away from the entrance of the road section, no vehicle is considered to be driven in the road in the detection period, and the illumination of each section of the road in the period is in a closed state until the next detection period is entered.
Further, the road lighting control object is designed as a second order LTI system as follows:
y(t)＝c T x(t)+d(t)
wherein, is a second-order state variable, and comprises the current, voltage and illuminance corresponding to the road approaching section, the entrance section, the transition section, the middle section, the exit section and the separation section of the actual controlled object, A, b and c T A system matrix which is a state space equation, u f (t) and y (t) are the input voltage and output illuminance of the system, d d (t) and d (t) are unknown external disturbances;
external disturbance signals such as vehicle lights, maintenance lights, alarm lights, automobile exhaust and the like in the section are generated from the following unknown external systems, and the mathematical model is designed as follows:
d d (t)＝B d ω(t)
wherein ω (t) is a state variable of the external system, c m ∈R 3 ,B d ∈R 2x3 ,c d ∈R 3 As a proper unknown vector and matrix, A d System matrix for external system, A d Is an unknown matrix with eigenvalues all at the imaginary axis and has the following characteristic polynomial D IM (λ)：
D IM (λ)＝det(λI-A d )＝λ 3 +α 2 λ 2 +α 1 λ+α 0 。
Further, the expansion control system is designed as follows:
G IM (s) is a pre-internal model compensator:
wherein N is IM (s) is any second-order stable polynomial, and u (t) is the system input of the closed-loop control system after feedback gain;
the error system is formulated as follows:
e(t)＝[1,0,···,0]e z (t)
wherein e z (t) is a state variable of the error system, e z (t)∈R γ ，η e (t)∈R n+m-γ Wherein A is e 、b e 、C e 、A ηe 、C ηe Is a suitable matrix.
Further, to guarantee ASPR performance of the error system, a parallel feed forward compensator H(s) is designed:
x f (t) is the state variable of the compensator H(s), A f 、b f 、Is a system matrix of state space equations, y f (t) is the output of the compensator;
the formula for obtaining the error dilation system is as follows:
where x is ea (t) is the state variable of the error expansion system, A ea 、b ea 、A system matrix which is a state space equation, e a And (t) is the output of the error dilation system, wherein,
wherein the formula of the internal mold compensator is as follows:
u(t)＝θ T z c (t)+u f (t)
where z is c (t) is the state variable of the internal mold compensator, A c 、b c 、θ T Is a system matrix of state space equations, where u (t) is the output of the state equation of the intra-mode compensator, where,
θ T ＝[α 1 -β 1 ,α 2 -β 2 ,α 3 -β 3 ]。
further, the formula of the design input is as follows:
u(t)＝-k(t)e a (t)
the formula for designing the adaptive law is as follows:
wherein k (t) is the self-adaptive feedback gain coefficient of the closed-loop control system, u (t) is the system input of the closed-loop control system after feedback gain, and u f (t) is the actual input value of the controller after compensation of the internal model at the model level,is the self-adaptive coefficient of the internal model, gamma, sigma and sigma θ1 、σ θ2 As a normal number of the adaptive law, Γ=Γ T >And 0 is the positive moment in the adaptive law.
The invention has the following beneficial effects:
1. through a series of improvements, the invention enables the cooperative equipment to effectively build a good driving visual environment of the road, is beneficial to optimizing a road lighting system and reduces the operation cost.
2. The invention carries out target detection on traffic flow in front of a road hole and in a road through a multi-source information fusion technology by an edge calculation unit so as to judge whether the traffic is driven in front of the road and the position, distance and speed information of the target vehicle, and calculates the time of the target vehicle reaching a road entrance and the distance of the target vehicle after entering the road entrance based on the information.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of an error system according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one:
referring to fig. 1, the present invention is a vehicle-road cooperative system applied to intelligent road illumination.
The system comprises a laser radar, a millimeter wave radar, a camera, an illumination sensor, an edge computing unit and a light controller;
the laser radar, the millimeter wave radar and the camera are connected to the edge computing unit through the gateway through Ethernet transmission, and the laser radar, the millimeter wave radar, the camera, the illumination sensor, the edge computing unit and the light controller are all arranged at the entrance of the road;
further, the illumination sensor is arranged in the road entrance and the road, a wireless network card module is arranged in the illumination sensor, a wireless WIFI access edge computing unit is adopted in the same network section, the edge computing unit carries out target detection on traffic in front of the road entrance and in the road through a multi-source information fusion technology so as to judge whether the traffic in front of the road enters and the position, distance and speed information of the target vehicle, and the time of the target vehicle reaching the road entrance and the distance of the target vehicle after entering the road entrance are calculated based on the information;
embodiment two:
referring to fig. 2, on the basis of the above embodiment 1, a using method thereof is disclosed:
1. the calculation basis is
The first step: in a detection period, if a vehicle target is detected to appear at a position m meters away from a road section, judging that the vehicle is about to drive in the period, and calculating the current vehicle speed v according to the time and the position of the occurrence of the two frames of targets, wherein v=s/T, T is the interval time of two frames, and S is the position distance difference of the targets between the two frames; assuming that the target vehicle is at a constant speed v, calculating the time when the target vehicle is about to drive into the road;
and a second step of: on the basis of the calculation result, calculating the time for the target vehicle to reach the road approaching section, the entrance section, the transition section, the middle section, the exit section and the separation section after entering the road;
and a third step of: actively controlling the illumination intensity of each section of the road according to the time calculated in the second step;
fourth section: in one detection period, if the occurrence of a vehicle target cannot be detected at the position m meters away from the interval, no vehicle is considered to drive in the road in the detection period, and all the illumination sections of the road in the detection period are in a closed state until the next detection period is entered;
2. illumination control method
The actual brightness value in the road is not consistent with the target brightness value sent by the light controller due to the interference of vehicle illumination and automobile exhaust emission smoke, and factors such as network transmission blockage, signal loss, sensor noise and the like of the illumination sensor. In order to improve the stability of a road illumination control system in a complex environment, the invention takes illumination intensity required values and actual brightness values of a road approaching section, an entrance section, a transition section, a middle section, an exit section and a separation section as inputs of a closed loop feedback system, and designs an anti-interference self-adaptive control system based on an internal model principle. The specific control method comprises the following steps:
(1) The road lighting control object is designed as a second order LTI system as follows:
y(t)＝c T x(t)+d(t)
wherein, in the shape of second orderState variables including current and voltage of the actual controlled object and illuminance corresponding to the road approaching section, entrance section, transition section, middle section, exit section and separation section, A, b and c T A system matrix which is a state space equation, u f (t) and y (t) are the input voltage and output illuminance of the system, d d (t) and d (t) are unknown disturbances such as various electromagnetic noise disturbances, commonly known as various steps and sinusoidal disturbances.
(2) External disturbance signals such as vehicle light, maintenance light, alarm light, road smoke and the like are generated from the following unknown external systems, and the mathematical model is designed according to the following formula:
d d (t)＝B d ω(t)
where ω (t) is a state variable of the external system, which need not be exactly known here, but is used to design the parallel feed forward compensator H(s) to ensure system model convergence. C here m ∈R 3 ,B d ∈R 2x3 ,c d ∈R 3 As a proper unknown vector and matrix, A d System matrix for external system, A d Is an unknown matrix with eigenvalues all at the imaginary axis and has the following characteristic polynomial D IM (λ)：
D IM (λ)＝det(λI-A d )＝λ 3 +α 2 λ 2 +α 1 λ+α 0
(3) The expansion control system is designed as shown in fig. 1, and the formula is as follows:
G IM (s) is a pre-internal model compensator:
wherein N is IM And(s) is an arbitrary second-order stable polynomial, so that the expansion system has the conditions for forming the self-adaptive output feedback type controller and has strong robustness, and u (t) is the system input of the closed-loop control system after feedback gain.
(4) The error system may represent the following formula:
e(t)＝[1,0,···,0]e z (t)
e z (t) is a state variable of the error system, e z (t)∈R γ ，η e (t)∈R n+m -gamma, wherein A e 、b e 、C e 、A ηe 、C ηe Is a suitable matrix.
(5) To ensure ASPR performance of the error system, a parallel feed forward compensator H(s) is designed, with the following formula:
x f (t) is the state variable of the compensator H(s), A f 、b f 、Is a system matrix of state space equations, y f And (t) is the output of the compensator.
(6) The formula for obtaining the error dilation system is as follows:
where x is ea (t) is the state variable of the error expansion system, A ea 、b ea 、A system matrix which is a state space equation, e a And (t) is the output of the error expansion system. Wherein,
wherein the formula of the internal mold compensator is as follows:
u(t)＝θ T z c (t)+u f (t)
where z is c (t) is the state variable of the internal mold compensator, A c 、b c 、θ T Is a system matrix of state space equations, where u (t) is the output of the state equation of the intra-mode compensator, where,
θ T ＝[α 1 -β 1 ,α 2 -β 2 ,α 3 -β 3 ]
(7) The formula of the design input is as follows:
u(t)＝-k(t)e a (t)
(8) The formula for designing the adaptive law is as follows:
k (t) in the system is the self-adaptive feedback gain coefficient of the closed-loop control system, u (t) is the system input of the closed-loop control system after feedback gain, and u f (t) is the actual input value of the controller after compensation of the internal model at the model level, i.e. the system input voltage at the physical level,is the self-adaptive coefficient of the internal model, gamma, sigma and sigma θ1 、σ θ2 As a normal number of the adaptive law, Γ=Γ T >0 is the positive definite matrix in the adaptive law.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (4)
1. The control method of the vehicle-road cooperative system applied to intelligent road illumination is characterized in that the system comprises a laser radar, a millimeter wave radar, a camera, an illumination sensor, an edge computing unit and a light controller;
the laser radar, the millimeter wave radar and the camera are all transmitted by the Ethernet and are connected to the edge computing unit by the gateway, and the laser radar, the millimeter wave radar, the camera, the illumination sensor, the edge computing unit and the light controller are all arranged at the entrance of the road;
the illumination sensor is arranged at the road entrance and in the road, a wireless network card module is arranged in the illumination sensor, and the edge computing unit detects the targets of traffic in front of the road entrance and in the road through a multi-source information fusion technology;
s1: in a detection period, if a vehicle target is detected to appear at a position m meters away from a road section, judging that the vehicle is about to drive in the period, and calculating the current vehicle speed v according to the time and the position of the occurrence of the two frames of targets, wherein v=s/T, T is the interval time of two frames, and S is the position distance difference of the targets between the two frames; assuming that the target vehicle is at a constant speed v, calculating the time when the target vehicle is about to drive into the road;
s2: on the basis of the calculation result, calculating the time for the target vehicle to reach the road approaching section, the entrance section, the transition section, the middle section, the exit section and the separation section after entering the road;
s3: actively controlling the illumination intensity of each section corresponding to the road according to the time calculated in the step S2;
s4: in one detection period, if the occurrence of a vehicle target cannot be detected at the position m meters away from the interval, no vehicle is considered to drive in the road in the detection period, and all the illumination sections of the road in the detection period are in a closed state until the next detection period is entered;
the road lighting control object is designed as a second order LTI system as follows:
y(t)＝c T x(t)+d(t)
wherein, is a second-order state variable, and comprises the current, voltage and illuminance corresponding to the road approaching section, the entrance section, the transition section, the middle section, the exit section and the separation section of the actual controlled object, A, b and c T A system matrix which is a state space equation, u f (t) and y (t) are the input voltage and output illuminance of the system, d d (t) and d (t) are unknown external disturbances;
external disturbance signals of vehicle lights, overhaul lights, alarm lights and vehicle tail gas in the road are generated from the following unknown external systems, and the mathematical model is designed as follows:
d d (t)＝B d ω(t)
wherein ω (t) is a state variable of the external system, c m ∈R 3 ,B d ∈R 2x3 ,c d ∈R 3 As a proper unknown vector and matrix, A d System matrix for external system, A d Is an unknown matrix with eigenvalues all at the imaginary axis and has the following characteristic polynomial D IM (λ)：
D IM (λ)＝det(λI-A d )＝λ 3 +α 2 λ 2 +α 1 λ+α 0 。
2. The control method for a vehicle-road cooperative system applied to intelligent road illumination according to claim 1, wherein the formula for designing the expansion control system is as follows:
G IM (s) is a pre-internal model compensator:
wherein N is IM (s) is any second-order stable polynomial, and u (t) is the system input of the closed-loop control system after feedback gain;
the error system is formulated as follows:
e(t)＝[1，0，…，0]e z (t)
wherein e z (t) is a state variable of the error system, e z (t)∈R γ ，η e (t)∈R n+m-γ Wherein A is e 、b e 、C e 、A ηe 、C ηe Is a suitable matrix.
3. A control method of a cooperative vehicle-road system for intelligent road illumination according to claim 2, characterized in that, to ensure ASPR performance of the error system, a parallel feedforward compensator H(s) is designed:
x f (t) is the state variable of the compensator H(s), A f 、b f 、Is a system matrix of state space equations, y f (t) is the output of the compensator;
the formula for obtaining the error dilation system is as follows:
where x is ea (t) is the state variable of the error expansion system, A ea 、b ea 、Is a state spaceSystem of equations matrix e a And (t) is the output of the error dilation system, wherein,
wherein the formula of the internal mold compensator is as follows:
u(t)＝θ T z c (t)+u f (t)
where z is c (t) is the state variable of the internal mold compensator, A c 、b c 、θ T Is a system matrix of state space equations, where u (t) is the output of the state equation of the intra-mode compensator, where,
θ T ＝[α 1 -β 1 ，α 2 -β 2 ，α 3 -β 3 ]。
4. a control method of a vehicle-road cooperative system applied to intelligent road illumination according to claim 3, wherein the formula of the design input is as follows:
u(t)＝-k(t)e a (t)
the formula for designing the adaptive law is as follows:
wherein k (t) is the self-adaptive feedback gain coefficient of the closed-loop control system, u (t) is the system input of the closed-loop control system after feedback gain, and u f (t) is the actual input value of the controller after compensation of the internal model at the model level,is the self-adaptive coefficient of the internal model, gamma, sigma and sigma θ1 、σ θ2 As a normal number of the adaptive law, Γ=Γ T And > 0 is the positive moment in the adaptive law.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210883683.4A CN115294763B (en) | 2022-07-26 | 2022-07-26 | Vehicle-road cooperative system applied to intelligent road illumination and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210883683.4A CN115294763B (en) | 2022-07-26 | 2022-07-26 | Vehicle-road cooperative system applied to intelligent road illumination and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115294763A CN115294763A (en) | 2022-11-04 |
| CN115294763B true CN115294763B (en) | 2023-10-03 |
Family
ID=83823642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210883683.4A Active CN115294763B (en) | 2022-07-26 | 2022-07-26 | Vehicle-road cooperative system applied to intelligent road illumination and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115294763B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106304508A (en) * | 2016-10-13 | 2017-01-04 | 南京思飞捷软件科技有限公司 | A kind of tunnel illumination adjusts light management system |
| CN106461762A (en) * | 2014-05-23 | 2017-02-22 | 飞利浦灯具控股公司 | Object detection system and method |
| CN109413796A (en) * | 2018-10-22 | 2019-03-01 | 顺德职业技术学院 | A kind of control system and control method of tunnel intelligent illumination |
| CN110708838A (en) * | 2019-08-15 | 2020-01-17 | 安徽文康科技有限公司 | Intelligent street lamp system based on real-time radar detection of traffic road |
| CN111586944A (en) * | 2020-05-29 | 2020-08-25 | 北京交科公路勘察设计研究院有限公司 | Highway tunnel intelligent illumination control system and method based on ETC portal system |
| CN112004298A (en) * | 2020-08-27 | 2020-11-27 | 中国水利水电第七工程局有限公司 | Tunnel construction illumination intelligent system |
| CN112802328A (en) * | 2019-11-14 | 2021-05-14 | 中铁建电气化局集团南方工程有限公司 | Intelligent lamp pole system and dimming method thereof |
| CN113015297A (en) * | 2021-02-22 | 2021-06-22 | 上海工程技术大学 | Road intelligent lighting system based on traffic flow prediction |
| CN113597067A (en) * | 2021-07-29 | 2021-11-02 | 北京建院图茂科技有限公司 | Intelligent illumination control system and method based on station illumination and environment illumination |
| CN114071846A (en) * | 2021-11-17 | 2022-02-18 | 中铁建设集团中原建设有限公司 | Ad-hoc network type partition cooperative control underground garage illumination control system and method |
| CN114559933A (en) * | 2022-02-25 | 2022-05-31 | 苏州皓宇云联科技有限公司 | Unmanned vehicle emergency risk-avoiding sensing and decision-making system based on vehicle-road cooperation |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8476565B2 (en) * | 2007-06-29 | 2013-07-02 | Orion Energy Systems, Inc. | Outdoor lighting fixtures control systems and methods |
| CN104266823B (en) * | 2014-10-26 | 2018-06-05 | 北京工业大学 | Based on safety depending on the tunnel portal section lighting criteria measuring method and its system on daytime recognized |
| US10178740B2 (en) * | 2015-02-05 | 2019-01-08 | Philips Lighting Holding B.V. | Road lighting |
| US10346736B2 (en) * | 2015-08-11 | 2019-07-09 | Kyle Hunte | Systems and methods for adaptive non-linear control of process systems |
| US20200089229A1 (en) * | 2018-09-18 | 2020-03-19 | GM Global Technology Operations LLC | Systems and methods for using nonlinear model predictive control (mpc) for autonomous systems |
-
2022
- 2022-07-26 CN CN202210883683.4A patent/CN115294763B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106461762A (en) * | 2014-05-23 | 2017-02-22 | 飞利浦灯具控股公司 | Object detection system and method |
| CN106304508A (en) * | 2016-10-13 | 2017-01-04 | 南京思飞捷软件科技有限公司 | A kind of tunnel illumination adjusts light management system |
| CN109413796A (en) * | 2018-10-22 | 2019-03-01 | 顺德职业技术学院 | A kind of control system and control method of tunnel intelligent illumination |
| CN110708838A (en) * | 2019-08-15 | 2020-01-17 | 安徽文康科技有限公司 | Intelligent street lamp system based on real-time radar detection of traffic road |
| CN112802328A (en) * | 2019-11-14 | 2021-05-14 | 中铁建电气化局集团南方工程有限公司 | Intelligent lamp pole system and dimming method thereof |
| CN111586944A (en) * | 2020-05-29 | 2020-08-25 | 北京交科公路勘察设计研究院有限公司 | Highway tunnel intelligent illumination control system and method based on ETC portal system |
| CN112004298A (en) * | 2020-08-27 | 2020-11-27 | 中国水利水电第七工程局有限公司 | Tunnel construction illumination intelligent system |
| CN113015297A (en) * | 2021-02-22 | 2021-06-22 | 上海工程技术大学 | Road intelligent lighting system based on traffic flow prediction |
| CN113597067A (en) * | 2021-07-29 | 2021-11-02 | 北京建院图茂科技有限公司 | Intelligent illumination control system and method based on station illumination and environment illumination |
| CN114071846A (en) * | 2021-11-17 | 2022-02-18 | 中铁建设集团中原建设有限公司 | Ad-hoc network type partition cooperative control underground garage illumination control system and method |
| CN114559933A (en) * | 2022-02-25 | 2022-05-31 | 苏州皓宇云联科技有限公司 | Unmanned vehicle emergency risk-avoiding sensing and decision-making system based on vehicle-road cooperation |
Non-Patent Citations (1)
| Title |
|---|
| 基于交通流等参数的隧道照明系统及其应用;曹德洪 等;仪器仪表标准化与计量;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115294763A (en) | 2022-11-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109895794B (en) | Accurate parking method and device of train automatic driving system based on machine learning | |
| CN113628437A (en) | Unmanned mine car intersection safe passing method based on cloud control platform | |
| CN113593275B (en) | Intersection internet automatic driving method based on bus signal priority | |
| CN111325975B (en) | Centralized optimization coordination method of intelligent networked vehicles in afflux entrance area | |
| CN115294763B (en) | Vehicle-road cooperative system applied to intelligent road illumination and control method thereof | |
| CN110329259A (en) | A kind of vehicle automatic following system and its method based on Multi-sensor Fusion | |
| CN104039058A (en) | Street lamp control system and method | |
| CN110610512A (en) | Unmanned aerial vehicle target tracking method based on BP neural network fusion Kalman filtering algorithm | |
| KR20220002789A (en) | Lane change assistance system and lane chagne method using the same | |
| CN111556631A (en) | Tunnel traffic lighting system intelligent control method based on PSO and RBFNN | |
| CN112365710A (en) | Intelligent vehicle lane change decision-making method based on probability output model | |
| CN113012459B (en) | Heterogeneous fleet cooperative safety control method based on distributed switching control | |
| JP2009176172A (en) | Control method for running without stop at intersection | |
| CN114200835B (en) | Heterogeneous fleet stability distributed control method based on Tube MPC | |
| CN114399922B (en) | Intersection internet connection automatic driving vehicle track control method considering bus priority | |
| CN114648878B (en) | Continuous intersection speed induction method in intelligent networking environment | |
| CN114038188B (en) | Coordination self-adaptive control algorithm under road vehicle interference | |
| CN113808438B (en) | Vehicle queue control mode switching system and method based on neural network | |
| CN115185265A (en) | Control system and method for automatic driving | |
| CN109383365B (en) | Multi-target processing method of ADB headlamp system | |
| Wu et al. | Simulation and experimental study of nonlinear characteristics for multi-mode driving of intelligent vehicles | |
| Wang et al. | Study of vehicle-road cooperative green wave traffic strategy for traffic signal intersections | |
| CN117576904B (en) | Method for guiding other vehicles to efficiently pass through traffic lights by intelligent network-connected vehicles | |
| CN117145553A (en) | Tunnel ventilation illumination system and method | |
| CN117133140A (en) | Dual-mode optimal speed track control method for intelligent network-connected vehicle at signalized intersection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |