CN1719354A - Acceleration control method of vehicle follow gallop sports - Google Patents
Acceleration control method of vehicle follow gallop sports Download PDFInfo
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- CN1719354A CN1719354A CN 200510025667 CN200510025667A CN1719354A CN 1719354 A CN1719354 A CN 1719354A CN 200510025667 CN200510025667 CN 200510025667 CN 200510025667 A CN200510025667 A CN 200510025667A CN 1719354 A CN1719354 A CN 1719354A
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Abstract
The present invention relates to an acceleration control method for car following movement in the field of vehicle engineering technology. Said method includes the following steps: (1). Setting traffic condition; (2). Selecting parameter value; (3) obtaining initial state of all the vehicles; and (4). Observing running state of vehicle queue when t is greater than O. said invention is mainly aimed at preventing traffic accident.
Description
Technical field
What the present invention relates to is a kind of acceleration control method of the control method that is used for the vehicle follow gallop movement of Vehicle Engineering technical field, particularly a kind of vehicle follow gallop movement.
Background technology
All the time, vehicle follow gallop research is based on the driving behavior of individual vehicle in the formation of research vehicle.Usually, when a driver finds that its adjacent front truck is faster than him, always wish to accelerate the speed of oneself, and the distance in two workshops is big more, big more to the adjustment of acceleration (or retarded velocity); Otherwise when the driver found that its front truck speed is slower than him, the meeting slow-down was to avoid collision, and at this moment, the distance in two workshops is more little, and is big more to the adjustment of acceleration (or retarded velocity).The vehicle of supposing the attribute unanimity lines up to travel on a sealing and sufficiently long one way road, can not overtake other vehicles each other, traditional vehicle follow gallop theory is thought: each driver reacts the stimulation that comes from its front vehicles in some way, and this reaction often is described as the form of vehicle acceleration; Other, as stimulation of front vehicles etc., then being described to is the velocity contrast in two workshops, or the function of space headway variablees such as (distances in the vehicle formation between adjacent two headstocks).Usually, this back car follow front truck motion by a description after the equation of motion of car acceleration change decide.
Find by prior art documents, M.Bando, K.Hasebe, A.Nakayama, Dynamicalmodel of traffic congestion and numerical simulation (" traffic congestion dynamic model and numerical simulation "), Physical ReviewE, 1995,51:1035-1042.As effective ways describing vehicle follow gallop movement, optimal speed vehicle follow gallop model OVM, the actual speed and the difference between its optimal speed of vehicle are controlled it in t+ τ acceleration change (τ is a time of driver's reaction) constantly constantly to be used in t, the form that this method is not only expressed is simple, easy to understand and processing, and merged the advantage of tradition with the model of speeding.Yet OVM is in some special traffic situation of simulation (for example at the uniform velocity travel vehicle formation the place ahead occur a slow train), as τ during greater than certain value, the sharply phenomenon of concussion even vehicle collision of the speed of a motor vehicle can occur.According to investigation, the reaction time of driver's reality is at least 0.75s, and the time of driver's reaction that can get among the OVM (less than 0.3s) is much smaller than this value.This weak point of OVM in the MOV model that Davis proposes, be improved (LC.Davis, Modifications of the optimal velocity traffic model to include delaydue to driver reaction time (" having considered the improvement of the optimal speed traffic model of time of driver's reaction ").Physica?A，2003，319：557-567)。When describing identical traffic situation, MOV can get realistic time of driver's reaction value (about 1s), but very serious speed of a motor vehicle reforming phenomena still can occur.
Summary of the invention
At the deficiency in the above technology, we have provided a kind of vehicle follow gallop movement acceleration control method of improvement.Make its phenomenon of avoiding occurring in the motion process speed of a motor vehicle vibration even vehicle collision, therefore main investigation is to liking speed of a motor vehicle v
n(t), guarantee that the motion process speed of a motor vehicle negative value can not occur, when the analogy traffic situation, can get the phenomenon that speed of a motor vehicle concussion can not appear simultaneously in realistic reaction time value.
The present invention is achieved through the following technical solutions, and method step of the present invention is as follows:
(1) traffic situation is set, and sets the traffic situation that needs simulation by the controlled Harassment Vehicle that moves;
(2) choose parameter value, choose the value of unknown parameter in the equation of motion of describing acceleration control method according to the traffic situation of setting, comprise the expression-form of the parameter speed α reciprocal of slack time, adjustment factor β, time of driver's reaction τ, acceleration adjusting time τ 1 and optimal speed function V and acceleration adjustment function G;
(3) obtain the original state of all vehicles, vehicle n at the state of moment t (t 〉=0) by its position x
n(t), speed v
n(t) and acceleration a
n(t) common definition, n=1 ..., N, N are the sum of all vehicles.T=0 in this step promptly determines x
n(0), v
n(0) and a
n(0), n=1 ..., N;
(4) motion state of investigation t＞0 o'clock vehicle formation, suppose that Harassment Vehicle moves according to preassigned scheme, and the vehicle in the vehicle formation carries out follow gallop movement according to the acceleration control method that proposes among the present invention, investigates the speed and the position of the motion state vehicle of t＞0 o'clock all vehicles: x
n(t), v
n(t) and a
n(t), n=1 ..., N.
Described acceleration control method, its equation of motion:
a
n(t)＝α(V(x
n-1(t-τ)-x
n(t-τ))-v
n(t-τ))+βG(v
n-1(t-τ
1)-v
n(t-τ
1)，x
n-1(t-τ
1)-x
n(t-τ
1))
Wherein: n=2 ..., N; α be speed slack time-refer to the driver with velocity variations to certain used time of speed of determining, T
rInverse; V is the optimal speed function; β is positive constant, and the expression driver is for adapting to the adjustment factor that current traffic condition is carried out; G acceleration adjustment function; τ
1For acceleration is regulated the time.
The speed of described all vehicles and position, its computing formula:
Speed: v
n(t)=v
n(t-Δ t)+a
n(t-Δ t) * Δ t, n=1 ..., N;
Position: x
n(t)=x
n(t-Δ t)+v
n(t-Δ t) * Δ t+1/2 * a
n(t-Δ t) * (Δ t)
2, n=1 ..., N.
Compared to OVM, the equation of motion of vehicle follow gallop movement acceleration control method has added adjusting (being second on the equation of motion right side) among the present invention, and has introduced the notion that acceleration is regulated the time.
Adjustment function G (x, y) satisfy: have identical positive and negative and be monotonically increasing about x and y respectively with x, the adding of G is represented: when the driver finds that its adjacent front truck is faster than him, he always wishes to accelerate the speed of oneself, and space headway is big more, and the value of G is big more to obtain bigger acceleration (or less retarded velocity); Otherwise when the driver found that its front truck speed is slower than him, he understood slow-down to avoid collision, and at this moment, space headway is more little, and the value of G is more little of to obtain less acceleration (or bigger retarded velocity).
Acceleration is regulated time τ
1Adding represent: the driver is according to t-τ stimulation and t-τ constantly
1Adjusting constantly decides the behavior of t constantly.In fact, at moment t-τ
1, if preceding vehicle speed is greater than with vehicle speed, then the value of function G should be for just obtaining bigger acceleration or littler retarded velocity at moment t, and at moment t-τ
1Space headway big more, the G value also should be big more; Otherwise, at moment t-τ
1, less than following vehicle speed, then the G value should be for negative to obtain littler acceleration or bigger retarded velocity, equally at moment t-τ at moment t as if preceding vehicle speed
1Space headway big more, the G value also should be big more.
The inventive method makes can get the phenomenon that speed of a motor vehicle concussion even vehicle collision can not appear simultaneously in realistic reaction time value when the analogy traffic situation, and easy to understand and processing.
Description of drawings
Fig. 1. vehicle formation follow gallop movement synoptic diagram among the present invention
Fig. 2. partly follow the speed curve diagram of car when the application response time is 1s in the embodiment of the invention 1
Wherein: β=3.5s
-1, T
r=40s.
Fig. 3. the inventive method and OVM partly followed the rate curve comparison diagram of car when the application response time was 1s among the embodiment 1
Wherein: β=3.5s
-1, T
r=10s.
Fig. 4. partly follow the speed curve diagram of car when the application response time is 1s in the embodiment of the invention 2
Wherein: β=1.5s
-1, T
r=10s.
Fig. 5. the inventive method and OVM partly followed the rate curve comparison diagram of car when the application response time was 1s among the embodiment 2
Wherein: β=1.5s
-1, T
r=10s.
Embodiment
In order to understand the method that the present invention proposes better, choose two kinds of typical traffics and simulate, 1,2,3,4,5 do further detailed narration in conjunction with the accompanying drawings with embodiment.
Embodiment 1: a slow train appears in the vehicle formation the place ahead of at the uniform velocity travelling.
(1) traffic situation is set: choose the vehicle formation that row just at the uniform velocity travel, following distance is h
0=25m; Occur slow train in the place ahead of vehicle formation distance for the 25m place when setting for zero moment (initial time), slow train will keep the uniform speed motion state than low speed always.Vehicle fleet is N=500, and slow train is numbered 1, is followed successively by car number by travel direction.
(2) choose parameter value:, choose α=1/40s according to above setting
-1, β=3.5s
-1, τ=1s, τ
1=0.1s and V (Δ x
n(t-τ))=16.8 (tanh (0.0860 (Δ x
n(t-τ)-25))+0.913)
Wherein, Δ x
n()=x
N-1()-x
n(), Δ v
n()=v
N-1()-v
n(), n=2 ..., N.
(3) obtain the original state of all vehicles: according to step (1) and (2), order: x
1(0)=and 0m, v
1(0)=and 14m/s, a
1(0)=0m/s
2x
n(0)=-(n-1) * and 25m, v
n(0)=V (h
0)=15.34m/s, a
n(0)=0m/s
2, n=2 ..., N.
(4) investigate the motion state of t＞0 o'clock vehicle formation: according to step (1), a car (slow train) is advanced with 14m/s at the uniform velocity.Car in the vehicle formation (the 2nd to N car) carries out follow gallop movement according to the acceleration control method that proposes among the present invention, Fig. 2 be by calculate the reasonable time in part with the rate curve of car, the phenomenon that vibration and negative value (being collision happens) as can be seen from the figure do not occur, even and to very big vehicle number (the 500th car), the speed of a motor vehicle is also within the acceptable scope.
Fig. 3 for by calculate the reasonable time in the inventive method and OVM embodiment 1 part with the speed comparison curves of car, therefrom as can be seen: the inventive method has been eliminated the car speed among the OVM and has not been conformed to actual phenomenon for negative this.
Embodiment 2: the vehicle formation of waiting for before the traffic lights turns motion after green at red light
(1) traffic situation is set: choose the vehicle formation that row are waited for, following distance is h
0=7m; Set the zero the place ahead distance that is parked in the vehicle formation constantly when (initial time) for the Harassment Vehicle at 7m place with acceleration 5m/s
2Accelerate to 15m/s always, the motion state that always remains a constant speed then, vehicle formation simultaneously starts.Vehicle fleet is N=500, and same Harassment Vehicle is numbered 1, is followed successively by car number by travel direction.
(2) choose parameter value:, choose α=1/10s according to above setting
-1, β=1.5s
-1, τ=1s, τ
1=0.1s and V (Δ x
n(t-τ))=16.8 (tanh (0.0860 (Δ x
n(t-τ)-25))+0.913)
Wherein, Δ x
n()=x
N-1()-x
n(), Δ v
n()=v
N-1()-v
n(), n=2 ..., N.
(3) obtain the original state of all vehicles: according to step (1) and (2), order: x
1(0)=and 0m, v
1(0)=and 0m/s, a
1(0)=0m/s
2x
n(0)=-(n-1) * and 7m, v
n(0)=and 0m/s, a
n(0)=0m/s
2, n=2 ..., N.
(4) motion state of investigation t＞0 o'clock vehicle formation: according to step (1), a car is earlier with acceleration 5m/s
2Accelerate to 15m/s, at the uniform velocity advance then.Car in the vehicle formation (the 2nd to N car) carries out follow gallop movement according to the acceleration control method that proposes among the present invention, Fig. 4 be by calculate the reasonable time in part with the rate curve of car, do not see the phenomenon of vibration and negative value equally in the drawings.
Fig. 5 for by calculate the reasonable time in the inventive method and OVM embodiment 2 parts with the speed comparison curves of car, draw useful effect equally.
From embodiment as can be seen: control the acceleration of vehicle formation follow gallop movement according to method provided by the invention, can get realistic time of driver's reaction value, avoided the collision between vehicle and the vibration of the speed of a motor vehicle.
Claims (4)
1, a kind of acceleration control method of vehicle follow gallop movement is characterized in that, concrete steps are as follows:
(1) traffic situation is set;
(2) choose parameter value;
(3) obtain the original state of all vehicles, vehicle n at the state of moment t (t 〉=0) by its position x
n(t), speed v
n(t) and acceleration a
n(t) common definition, n=1 ..., N, N are the sum of all vehicles, t=0 in this step promptly determines x
n(0), v
n(0) and a
n(0), n=1 ..., N;
(4) motion state of investigation t＞0 o'clock vehicle formation, setting Harassment Vehicle moves according to preassigned scheme, and the vehicle in the vehicle formation carries out follow gallop movement according to the acceleration control method that proposes among the present invention, investigates the speed and the position of the motion state vehicle of t＞0 o'clock all vehicles: x
n(t), v
n(t) and a
n(t), n=1 ..., N;
Described acceleration control method, its equation of motion:
a
n(t)＝α(V(x
n-1(t-τ)-x
n(t-τ))-v
n(t-τ))+βG(v
n-1(t-τ
1)-v
n(t-τ
1)，x
n-1(t-τ
1)-x
n(t-τ
1))
Wherein: n=2 ..., N; α be speed slack time-refer to the driver with velocity variations to certain used time of speed of determining, T
rInverse; V is the optimal speed function; β is positive constant, and the expression driver is for adapting to the adjustment factor that current traffic condition is carried out; G acceleration adjustment function; τ
1For acceleration is regulated the time.
2, the acceleration control method of vehicle follow gallop movement according to claim 1 is characterized in that, described step (1) is meant: set the traffic situation that needs simulation by the controlled Harassment Vehicle that moves and set.
3, the acceleration control method of vehicle follow gallop movement according to claim 1, it is characterized in that, described step (2), choose the value of unknown parameter in the equation of motion of describing acceleration control method according to the traffic situation of setting, comprise the parameter speed α reciprocal of slack time, adjustment factor β, time of driver's reaction τ, acceleration adjusting time τ
1And the expression-form of optimal speed function V and acceleration adjustment function G is chosen parameter value.
4, the acceleration control method of vehicle follow gallop movement according to claim 1 is characterized in that, the speed of described all vehicles and position, and its computing formula:
Speed: v
n(t)=v
n(t-Δ t)+a
n(t-Δ t) * Δ t, n=1 ..., N;
Position: x
n(t)=x
n(t-Δ t)+v
n(t-Δ t) * Δ t+1/2 * a
n(t-Δ t) * (Δ t)
2, n=1 ..., N.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101522498B (en) * | 2006-11-30 | 2012-07-04 | 宝马股份公司 | Method for regulating speed and/or following distance for automobiles |
| CN102662320A (en) * | 2012-03-05 | 2012-09-12 | 吴建平 | Car-following simulation method based on fuzzy mathematics |
| CN104794265A (en) * | 2015-04-01 | 2015-07-22 | 南京邮电大学 | Moving following model design method based on acceleration information |
| CN105313891A (en) * | 2015-10-22 | 2016-02-10 | 清华大学 | Multi-vehicle cooperative collision avoidance method and apparatus |
| CN108845498A (en) * | 2018-06-15 | 2018-11-20 | 吉林大学 | A kind of driver's following-speed model considering the response lag time |
| CN110750877A (en) * | 2019-09-27 | 2020-02-04 | 西安理工大学 | Method for predicting car following behavior under Apollo platform |
| CN110979309A (en) * | 2019-12-23 | 2020-04-10 | 北京航空航天大学 | Vehicle following model stability control method considering driver perception error |
| CN111746538A (en) * | 2020-07-02 | 2020-10-09 | 清华大学 | Strict collision avoidance vehicle queue following control method and control system |
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2005
- 2005-05-08 CN CN 200510025667 patent/CN1719354A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101522498B (en) * | 2006-11-30 | 2012-07-04 | 宝马股份公司 | Method for regulating speed and/or following distance for automobiles |
| CN102662320A (en) * | 2012-03-05 | 2012-09-12 | 吴建平 | Car-following simulation method based on fuzzy mathematics |
| CN104794265A (en) * | 2015-04-01 | 2015-07-22 | 南京邮电大学 | Moving following model design method based on acceleration information |
| CN104794265B (en) * | 2015-04-01 | 2017-09-22 | 南京邮电大学 | A kind of movement based on acceleration information follows design methods |
| CN105313891A (en) * | 2015-10-22 | 2016-02-10 | 清华大学 | Multi-vehicle cooperative collision avoidance method and apparatus |
| CN105313891B (en) * | 2015-10-22 | 2017-08-11 | 清华大学 | A kind of many car collaboration collision avoidance method and devices |
| CN108845498A (en) * | 2018-06-15 | 2018-11-20 | 吉林大学 | A kind of driver's following-speed model considering the response lag time |
| CN110750877A (en) * | 2019-09-27 | 2020-02-04 | 西安理工大学 | Method for predicting car following behavior under Apollo platform |
| CN110750877B (en) * | 2019-09-27 | 2024-05-03 | 西安理工大学 | Vehicle following behavior prediction method under Apollo platform |
| CN110979309A (en) * | 2019-12-23 | 2020-04-10 | 北京航空航天大学 | Vehicle following model stability control method considering driver perception error |
| CN111746538A (en) * | 2020-07-02 | 2020-10-09 | 清华大学 | Strict collision avoidance vehicle queue following control method and control system |
| CN111746538B (en) * | 2020-07-02 | 2021-09-10 | 清华大学 | Strict collision avoidance vehicle queue following control method and control system |
| WO2023213018A1 (en) * | 2022-05-06 | 2023-11-09 | 苏州大学 | Car following control method and system |
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