CN104192148A - Main road speed planning method based on traffic signal information prediction - Google Patents
Main road speed planning method based on traffic signal information prediction Download PDFInfo
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- CN104192148A CN104192148A CN201410471792.0A CN201410471792A CN104192148A CN 104192148 A CN104192148 A CN 104192148A CN 201410471792 A CN201410471792 A CN 201410471792A CN 104192148 A CN104192148 A CN 104192148A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
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Abstract
A main road speed planning method based on traffic signal information prediction includes the steps of 1, acquiring latest traffic signal data; 2, acquiring a distance to a closest traffic signal; 3, determining a range of time passing a traffic intersection; 4, calculating and optimizing speed; 5, judging whether to pass a next intersection or not; if yes, going to the step 1; if not, confirming arrival at a destination.
Description
Technical field
The invention belongs to the auxiliary control field of automobile intelligent, relate to a kind of main thoroughfare speed of a motor vehicle planing method based on traffic signal information precognition, also significant for mixed power electric car, pure electric automobile control.
Background technology
Oil crises is one of major issue of China's economic development faces always.The fuel oil consumption that reduces automobile can effectively reduce the consumption of petroleum in interurban communication and transportation field, and China's energy sustainable development is had great importance.The fuel oil consumption of orthodox car and the acceleration of chaufeur and brake operation course, and time of idle running is closely related.When automobile moves on through street, can freely travel, the driving engine rotation that as far as possible remains a constant speed, fuel economy is relatively better.But, when automobile moves on major urban arterial highway, can be subject to the impact of traffic signal lamp, constantly accelerate, the operation of braking, idling, not only the fuel oil consumption of driving engine increases, and has potential safety hazard.In fact,, in order to reduce the fuel oil consumption of automobile in the time that main thoroughfare travels, running car need to be accomplished following 3 points as far as possible:
1), while avoiding by traffic intersection, fast speed accelerates and brake operating;
2) while avoiding red light, arrive traffic intersection, idle for a long time;
3) speed of a motor vehicle control while automobile being passed through to traffic intersection within limits.
Because the vision of chaufeur and drive reaction distance are about 75 meters, that is, the traffic intersection that automobile has traffic signal lamp in distance is about to make in 75 meters and accelerates or brake operating just can affect automobile by the mode of traffic intersection.But because chaufeur cannot accurately be predicted the situation of change of traffic signal lamp, therefore when by traffic intersection, may take to accelerate fast or braking, and be difficult to initiatively avoid the front auto idle speed of red light.
Perfect along with the development of Modern wireless communication technology and ground communication equipment, when automobile travels on main thoroughfare, even if having the traffic intersection distance of traffic signal lamp, automobile and front reach thousands of rice, still can this traffic intersection of Real-time Obtaining signal information accurately.Speed of a motor vehicle planing method plans the speed of a motor vehicle according to signal information exactly, and offers chaufeur as steered reference, thereby controls the method for the speed of a motor vehicle of automobile as far as possible.The method not only can be avoided quick acceleration and the brake operating of chaufeur, and can maximum possible make automobile in the time of green light by traffic intersection, reduce the fuel oil consumption of automobile.But domestic at present, the technology and the method that also do not have relevant automobile speed to plan.
When the present invention is directed to automobile and moving, set up a kind of main thoroughfare speed of a motor vehicle planing method based on traffic signal information on a relatively unobstructed main thoroughfare.The traffic signal lamp information that the method is obtained by wireless telecommunications system, automotive operation time and acceleration/accel are optimized, and by the speed of a motor vehicle curve of cooking up is offered to chaufeur as steered reference, thereby make automobile can avoid the quick acceleration and deceleration operation bringing due to signal lamp, and idle, fuel oil consumption when reduction automobile moves on relatively unobstructed main thoroughfare.
Summary of the invention
Because current China is not to automobile primary arterial highway speed of a motor vehicle planing method and technology, have influence on to a certain extent automobile fuel ecomomy, in order to make up this deficiency, consider the impact of traffic behavior, the present invention, according to the signal information of the nearest traffic intersection in front, plans calculating to automobile speed, and running time and acceleration/accel are optimized, then by the speed of a motor vehicle of having planned is offered to chaufeur as steered reference, thereby reduce the fuel oil consumption of automobile.
The present invention is achieved through the following technical solutions.Based on a main thoroughfare speed of a motor vehicle planing method for traffic signal information precognition, comprise the following steps:
Step 1): obtain nearest traffic signal lamp data.Automobile enters section, first obtains nearest traffic intersection signal lamp delta data t by wireless communication system
s, s ∈ { g, r}.S is signal lamp type, and g represents green light, and r represents red light.There are two kinds of situations in signal lamp change situation, as shown in Figure 1.In the time running into signal lamp and be initially red light, define the time that is transformed to green light for the 1st time and be
the time that is transformed to red light for the 2nd time is
then the time that is transformed to green light for the 3rd time is
by that analogy.In like manner, in the time being initially green light,
by that analogy.
Step 2): obtain the distance with nearest traffic signal lamp.Automobile enters i section, obtains the distance B of the signal lamp in automobile and i section by wireless location system
i.
Step 3): determine by traffic intersection time range.Consider the flow of road, need to reduce automobile by the time in section as far as possible.The operating mode that the automobile shortest time arrives road cross is: first from rate of onset v
0, with the maxim a of acceleration/accel
haccelerate, reach the speed of a motor vehicle maxim v that road allows
limafter, traffic intersection travels at the uniform speed.
Therefore, the pick-up time t of automobile
afor:
With speed of a motor vehicle v
limthe time of traveling at the uniform speed be:
The automobile shortest time is t by the time at crossing
t,
t
t＝t
a+t
c
On the time interval of automobile by traffic intersection i, be limited to t
l, under be limited to t
h, automobile by the time section at i crossing is
Be green light for automobile is arrived when traffic intersection, when automobile is with the shortest time during by i crossing, when the initialize signal of the traffic signal information of receiving is green light, automobile by the time interval of traffic intersection is:
If
If
In formula, k is that signal changes number of times.
Step 4): the calculation optimization speed of a motor vehicle.In order to improve the fuel oil consumption performance of automobile, speed of a motor vehicle planning algorithm need to keep the speed of a motor vehicle constant as far as possible, reduces unnecessary acceleration or brake operating.The present invention, in the time of the planning of the enterprising driving of the less main thoroughfare of vehicle flowrate speed, adopts automobile only once to accelerate or the method for brake operating.First the time of carrying out is t to automobile
eacceleration or brake operating, acceleration/accel is a; Finally again with speed v
1at the uniform velocity travel, v
1=v
0+ at
e.
In order to ensure the carrying capacity of road, need to make automobile exist
In time, pass through traffic intersection.In addition, in order to improve the fuel economy of automobile, need to make the speed of a motor vehicle of automobile change minimum.Therefore, the present invention using by time and acceleration/accel absolute value sum as optimization aim, majorized function as shown in the formula:
Min |a|+t
Constraint condition is:
1)
2) 0≤t
e≤t
3) t
l≤t＜t
h
4) a
l≤a≤a
h
5) 0≤v
0+at
e≤v
lim
In formula, a
lfor acceleration/accel minimum value, a
hfor acceleration/accel maxim.
Step 5): driving,, judges whether to enter next crossing according to chaufeur demand by after traffic intersection according to the planning speed of a motor vehicle, if need to, forward step 1 to); If do not needed, finish stroke.
Brief description of the drawings
Fig. 1 speed of a motor vehicle planning implementation method schematic diagram;
Fig. 2 test roads figure;
Fig. 3 traffic signal information schematic diagram;
Fig. 4 speed of a motor vehicle planning curve synoptic diagram;
Fig. 5 main thoroughfare speed of a motor vehicle planning speed of a motor vehicle diagram of curves;
Fig. 6 tradition chaufeur regulation speed diagram of curves;
Car model figure in Fig. 7 advisor;
Wherein, D in Fig. 3 and Fig. 4
lit is the distance between automobile current location and nearest traffic intersection signal lamp.Automobile, in current location, obtains two kinds of situations that nearest traffic intersection signal lamp data exists, and upper figure runs into signal lamp to be initially red light, and figure below is initially green light for running into signal lamp.
In Fig. 5 and Fig. 6, upper figure be automobile in the process of moving apart from temporal evolution curve, figure below is automobile speed temporal evolution curve in the process of moving.
Detailed description of the invention
Below in conjunction with accompanying drawing, that the invention will be further described is as follows:
Because current China is not to automobile primary arterial highway speed of a motor vehicle planing method and technology, have influence on to a certain extent automobile fuel ecomomy, in order to make up this deficiency, the present invention has carried out speed of a motor vehicle planning to relatively unobstructed main thoroughfare, predict signal lamp distance and the information of the nearest traffic intersection in front by radio transmission apparatus, automobile speed is planned to calculating, running time and acceleration/accel are optimized, then the speed of a motor vehicle of having planned is offered to chaufeur as steered reference, thereby the fuel oil consumption that reduces automobile, detailed process as shown in Figure 1.
Embodiment 1
Describe as an example of root North Street, Dao Xi imperial city, South Road, Zizhuyuan Park, Beijing example, vehicle running route figure as shown in Figure 2.Taking South Road, Zizhuyuan Park as starting point, root North Street, western imperial city is terminal.On this road altogether through ten traffic intersections that have traffic signal lamp: Capital Gymnasium South Road, Sanlihe Road, civilian emerging East Street, exhibition road, Che Gongzhuan North Street, Guan Yuanqiao, the lane of raising an infant, Zhaodengyu Road, root North Street, He Xi imperial city, street, Xin Jie Kou.
Obtain nearest traffic signal lamp data.Automobile enters section, first obtains nearest traffic intersection signal lamp delta data t by wireless communication system
s, s ∈ { g, r}.S is signal lamp type, and g represents green light, and r represents red light.There are two kinds of situations in signal lamp change situation, as shown in Figure 3.In the time running into signal lamp and be initially red light, define the time that is transformed to green light for the 1st time and be
the time that is transformed to red light for the 2nd time is
then the time that is transformed to green light for the 3rd time is
by that analogy.In like manner, in the time being initially green light,
By that analogy.
This test duration is 7:00:00 in the morning on April 5th, 2014, and automobile is positioned at starting point (South Road, Zizhuyuan Park), the now signal lamp of each traffic intersection conversion moment t
sarray (unit is s):
Capital Gymnasium South Road: [45,85,185,235,335,375,475,525,625], initialize signal lamp is r;
Sanlihe Road: [45,90,160,205,275,320,390,435,505], initialize signal lamp is r;
The emerging East Street of literary composition: [33,89,153,209,273,329,393,449,513], initialize signal lamp is r;
Exhibition road: [80,140,225,285,370,430,515,575,635], initialize signal lamp is r;
Che Gongzhuan North Street: [73,146,219,292,365,438,511,584,657], initialize signal lamp is g;
Official garden bridge: [40,90,245,295,450,500,655,705,860], initialize signal lamp is r;
The lane of raising an infant: [60,140,225,305,390,470,555,635,720], initialize signal lamp is r;
Zhaodengyu Road: [50,140,215,305,380,470,545,635,710], initialize signal lamp is r;
Street, Xin Jie Kou: [87,152,252,317,417,482,582,647,747], initialize signal lamp is r;
Root North Street, western imperial city: [204,284,344,424,484,564,624,704,764], initialize signal lamp is r;
From test starting point to terminal, from root North Street, Dao Xi imperial city, South Road, Zizhuyuan Park, automobile is apart from the array D of the distance composition of traffic intersection
ifor [501,1184,1671,2062,2525,3051,3823,4083,4526,4849], the m of unit.
Suppose that initial speed of a motor vehicle when automobile starts stroke is 40km/h; The maximum speed of road is 50km/h; The acceleration/accel of automobile is 1.5m/s
2; Deceleration/decel is-2m/s
2.
Step 1) automobile is during from South Road, Zizhuyuan Park, first obtains the traffic signal lamp information converting at Capital Gymnasium South Road by wireless transmitting system, [45,85,185,235,335,375,475,525,625].Because initialize signal lamp is r; Therefore,
The like.
Step 2) simultaneously, automobile, by wireless location system and road-map, can obtain the distance B at automobile and Capital Gymnasium South Road
1, D
1=501m.
Step 3) determine that automobile passes through the time range at Capital Gymnasium South Road.The rate of onset v of automobile
0=40km/h, accelerates a with peak acceleration
h=1.5m/s
2, reach the speed of a motor vehicle maxim v that road allows
limafter=50km/h, traffic intersection travels at the uniform speed.
Therefore, the pick-up time t of automobile
afor:
With speed of a motor vehicle v
limthe time of traveling at the uniform speed be:
The time that the automobile shortest time arrives crossing is t
t,
t
t＝t
a+t
c＝36.2572s
Therefore, the time interval of definition automobile by traffic intersection i on be limited to t
l, under be limited to t
h.
Known according to the traffic lights information converting at Capital Gymnasium South Road, first automobile accelerates to maximum speed, and while then traveling at the uniform speed traffic intersection, signal lamp is red light, therefore cannot pass through smoothly.For make automobile when the green light by traffic intersection, the present invention adopts the time range of nearest green time section as automobile.Can obtain according to traffic signal lamp information converting, this interval be [45 85).
Step 4) the calculation optimization speed of a motor vehicle.In order to improve the fuel oil consumption performance of automobile, speed of a motor vehicle planning algorithm need to keep the speed of a motor vehicle constant as far as possible, reduces unnecessary acceleration or brake operating.The present invention, in the time of the planning of the enterprising driving of the less main thoroughfare of vehicle flowrate speed, adopts automobile only once to accelerate or the method for brake operating.Automobile is first at the t zero hour
s, the time of carrying out is t
eacceleration or brake operating, acceleration/accel is a; Finally again with speed v
1at the uniform velocity travel, v
1=v
0+ at
e.Speed of a motor vehicle planning curve as shown in Figure 4.
In order to make the acceleration/accel minimum of automobile, and the carrying capacity of guarantee road, need to make automobile exist
In time, pass through traffic intersection.The present invention using acceleration/accel absolute value and by time sum as optimization aim, majorized function as shown in the formula:
Min |a|+t
Constraint condition is:
1)
2) 0≤t
e≤t
3) t
l≤t＜t
h
4) a
l≤a≤a
h
5) 0≤v
0+at
e≤v
lim
In formula, a
lfor acceleration/accel minimum value ,-2m/s
2, a
hfor acceleration/accel maxim, 1.5m/s
2.
By adopting matlab coding to solve above-mentioned formula, can obtain automobile from South Road, Zizhuyuan Park to Capital Gymnasium South Road during, optimum speed of a motor vehicle curve is for first with acceleration/accel 0.0016m/s
2operation 16.8173s, then travels at the uniform speed and arrives Capital Gymnasium South Road.The time of run of whole process is 45s, thereby the mode not stop that ensures is passed through Capital Gymnasium South Road.
Step 5) because the speed of a motor vehicle during automobile uniform movement is greater than 10km/h, the time is greater than 10s, therefore adopts the speed of a motor vehicle operation of having planned.
Step 6) then, automobile during from Capital Gymnasium South Road, first obtains the traffic lights signal information of Sanlihe Road, is now 7:00:45, and the traffic lights information converting of Sanlihe Road becomes [45,115,160,230,275,345,390,460], initialize signal lamp is g.The distance of the traffic lights of automobile and Sanlihe Road is D
2=1184m-501m=683m.
Step 7) first automobile calculate the shortlyest in the time, and speed of a motor vehicle curve is optimized to calculating.Find that automobile need to be with deceleration/decel-0.0905m/s
2the 112.0411s that runs slowly, and then the Sanlihe Road that travels at the uniform speed, the time of run of whole process is 115s.When automobile passes through Sanlihe Road, the time is 7:02:40, and continues to travel to the emerging East Street of literary composition.
Step 8) after the same method, garage is crossed all traffic intersections and is arrived destination.Automobile is 631s by total time of run of root North Street, Ji Xi imperial city, the tenth crossing.The whole process of automotive operation can not be stopped.
Contrast with the speed of a motor vehicle curve without speed of a motor vehicle planning algorithm,, chaufeur obtains traffic signal information according to vision and accelerates or when the distance of deceleration-operation is 75m, speed of a motor vehicle diagram of curves is as shown in Figure 6: automobile is by the tenth crossing, and total time of run of root North Street, western imperial city is 630s.
From Fig. 5 and Fig. 6, can find, the used time of two kinds of speed of a motor vehicle curves is substantially the same, differs 1s.But the speed of a motor vehicle curve that adopts speed of a motor vehicle planning algorithm to set up, can at utmost avoid automobile to stop before red light, has reduced the time of idle running of automobile; And acceleration and brake operating milder, thereby at utmost reduce the fuel oil consumption of automobile.
The present invention is based on the advisor of vehicle simulation software in U.S.'s regenerative resource laboratory, application orthodox car model has or not motoring condition and the comparative analysis of car load fuel oil consumption under speed of a motor vehicle planning control, and car model as shown in Figure 7.
Table 1 embodiment 1 calculates fuel oil consumption contrast table
From table 1, can obtain, automobile, according to the speed of a motor vehicle curve that adopts speed of a motor vehicle planning algorithm to obtain, is compared the speed of a motor vehicle curve driving that does not adopt speed of a motor vehicle planning algorithm to obtain, and hundred kilometers of fuel oil consumptions reduce 14.3%.Therefore, adopt main thoroughfare speed of a motor vehicle planning algorithm can improve effectively significantly the fuel economy of automobile.
Claims (6)
1. the main thoroughfare speed of a motor vehicle planing method based on traffic signal information precognition, comprises the following steps:
Step 1) obtain nearest traffic signal lamp data;
Step 2) obtain and the distance of nearest traffic signal lamp;
Step 3) determine by traffic intersection time range;
Step 4) the calculation optimization speed of a motor vehicle;
Step 5) judge whether to pass through next crossing, if so, proceed to step 1); Otherwise, arrive destination.
2. method according to claim 1, is characterized in that described step 1) obtain nearest traffic signal lamp data by wireless communication system.
3. method according to claim 1, is characterized in that described step 2) obtain and the distance of nearest traffic signal lamp by wireless location system.
4. method according to claim 1, is characterized in that described step 3) in calculate by following formula the time t that the shortest time arrives crossing
t=t
a+ t
c;
Wherein t
afor the pick-up time of automobile, t
cfor the speed of a motor vehicle peaked travel at the uniform speed time of automobile to allow;
Wherein, v
limfor the speed of a motor vehicle maxim allowing, v
0for rate of onset, a
hfor the maxim of acceleration/accel, D
ifor the distance of the signal lamp in automobile and i section, α is acceleration/accel.
5. method according to claim 1, is characterized in that described step 4) in using acceleration/accel absolute value and by time sum as optimization aim.
6. method according to claim 1, is characterized in that, described method is based on the advisor of vehicle simulation software, and application orthodox car model has or not motoring condition and the comparative analysis of car load fuel oil consumption under speed of a motor vehicle planning control.
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| US11436919B2 (en) | 2017-10-23 | 2022-09-06 | Bayerische Motoren Werke Aktiengesellschaft | Method and apparatus for determining driving strategy of a vehicle |
| CN108053660A (en) * | 2018-01-11 | 2018-05-18 | 江苏中路工程技术研究院有限公司 | A kind of control method of reduction vehicle exhaust CO2 emission towards traffic flow |
| CN108053660B (en) * | 2018-01-11 | 2020-11-03 | 江苏中路工程技术研究院有限公司 | Control method for reducing emission of carbon dioxide in automobile exhaust facing traffic flow |
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