CN105577771A - Vehicle collaborative driving method based on vehicle-vehicle communication and vehicle-road communication - Google Patents

Abstract

The invention relates to a new vehicle collaborative driving method based on a vehicle-vehicle communication and vehicle-road communication environment. The method comprises the steps that: one-way driving vehicles on a road and signal lamps are used as nodes to establish a vehicle-vehicle communication network, a vehicle-road communication network and a vehicle driving traffic network; the three layers of networks interact to form a three-layer network framework; the vehicle-vehicle communication network uses the vehicles as nodes, and vehicles mutually transmit associated driving information; the vehicle-road communication network uses the vehicles and signals lamps in a certain range as nodes, and associated information of the signal lamps are transmitted to the vehicles; based on the vehicle-vehicle communication network and the vehicle-road communication network, the vehicles adjust speeds on the vehicle-vehicle communication road according to a vehicle following model under the vehicle-vehicle communication, and dynamically adjust the speeds on the vehicle-road communication road by a simplex method. The safe driving of the vehicles is ensured, the energy consumption of the vehicles is reduced by means of the wireless communication technology, and the passing efficiency of the vehicles on the road is improved.

Description

Drive manner worked in coordination with by a kind of vehicle communicated with bus or train route based on truck traffic

Technical field

The present invention relates to a kind of vehicle and work in coordination with drive manner, particularly relate to a kind of vehicle communicated with bus or train route in truck traffic and work in coordination with drive manner.

Background technology

Along with developing rapidly and application of wireless communication technology and mobile ad hoc networks technology, take car as the new direction that information system-" the car networking " of node becomes intelligent transportation and expand." car networking " refers to, by vehicle collection, process share bulk information, make car and car, car and roadside device, car and pedestrian and bicycle, and car and urban network can connect mutually.

Along with the development of intelligent transportation system, truck traffic communicates with bus or train route becomes possibility all, car Network for promotion people, road, car close coordination has great importance, probe into and how conventional model is improved, propose to be applicable to communicate to communicate with the Che-Lu vehicle of link of Che-Che and work in coordination with drive manner, there is important theoretical and practical significance.

In truck traffic, under bus or train route communication environment, vehicle can not only obtain the motion state of Adjacent vehicles, also can obtain the information of other vehicles within the scope of certain distance, vehicle can travel more intelligently, in recent years, some experts and scholars propose some microcosmic traffic flow models based on truck traffic, these models have a common ground mostly: the vehicle under truck traffic environment on road, collect the following distance information of many cars in front, adjust the speed of a motor vehicle again, and for there being the section of signal lamp, vehicle and signal lamp are used as node, consider that the research of truck traffic is little by the thought of complex network.And instantly the research of bus or train route communication is mainly concentrated on, by the information of signal lamp, choose suitable algorithm and dynamic optimization is carried out to the speed of a motor vehicle of a car.In sum, truck traffic communicates as the important step of car networking with bus or train route, and there be limited evidence currently of has research that both are integrated consideration, and this and actual conditions are inconsistent; This patent considers to communicate with the bus or train route simplex method optimal velocity model in section of the speed following-speed model in truck traffic section to combine.Meanwhile, the combination of transportation network and communication network, defines the complex network that is node with vehicle and signal lamp.Describe car networking by the viewpoint of network also very directly perceived, the present invention comes therefrom.

Summary of the invention

In order to describe vehicle traveling, truck traffic and the bus or train route communication scenario under car networked environment more intuitively, the present invention proposes a truck traffic network, bus or train route communication network and transportation network to interact and the car networking super-network framework that formed, specifically describe and be:

At truck traffic layer, can the vehicle of transmission of information mutually be node, can transmission of information mutually between vehicle, then form a limit; In bus or train route communication layers, arrive vehicle in bus or train route communication range and signal lamp is node, signal lamp, to vehicle transmission of information, defines a unidirectional limit; In network of communication lines network layers, each car and signal lamp are node, influence each other, then form a limit if travelled between vehicle, if signal lamp travels vehicle impact, then and the limit that formation one is unidirectional.

The present invention gives concrete algorithm to the truck traffic in car networking super-network framework, car light communication and vehicle drive, provides a kind of vehicle communicated with bus or train route based on truck traffic and works in coordination with drive manner.Based on car car Real-Time Sharing movement state information, and in certain limit, signal lamp is to vehicle transmission of information, and vehicle optimizes the speed of a motor vehicle real-time and accurately, effectively improves traffic efficiency and vehicle fuel efficiency.

The technical scheme of concrete employing is:

Drive manner worked in coordination with by a kind of vehicle communicated with bus or train route based on truck traffic that the present invention proposes, described method has the speed-optimization of vehicle on signal lamp section under car networked environment, described vehicle is worked in coordination with drive manner and is worked in coordination with pilot instrument realization by vehicle, and described vehicle is worked in coordination with pilot instrument and is divided into truck traffic layer, network of communication lines network layers and car light communication layers successively; Concrete steps are as follows:

(1) respectively with the signal lamp of the vehicle of truck traffic layer and car light communication layers for node, construct one and interacted by truck traffic network, bus or train route communication network and transportation network and the car networking super-network framework that formed;

(2) a bus or train route communication point is being set with communication distance D place, signal lamp front, when the distance of vehicle and bus or train route communication point is greater than communication distance D, described vehicle does not affect by signal lamp, head car travels by raw velocity, then to perform the vehicle following-model traveling under the truck traffic environment of truck traffic layer with vehicle of speeding by step (3);

(3) with vehicle of speeding by the communication between vehicle, obtain the following distance information of many vehicles in front, to described following distance information weighting, summation and normalization, obtain comprehensive with following distance information that is many cars in front, revise the former following-speed model with vehicle of speeding thus, obtain the vehicle following-model under new truck traffic environment, describedly adjust the speed of a motor vehicle with vehicle of speeding according to vehicle following-model, specific as follows:

$\frac{d^2{x}_i}{{\mathrm{dt}}^2}=\mathrm{\α}\{\underset{j=1}{\overset{i}{\Σ}}{w}_{ij}{D}_{ij}\[V_j^{op}\left({\mathrm{\Δx}}_j\right)-\frac{{\mathrm{dx}}_i}{dt}\]\},$

$\left\{\begin{array}{c}{w}_{ij}^{\′}=\frac{1}{2}\[\tan 5(\frac{j}{i}-\frac{1}{2})+1\],\\ \begin{array}{cc}{w}_{ij}=\frac{w_{ij}^{\′}}{\underset{j=1}{\overset{i}{\Σ}}{w}_{ij}^{\′}},& (j=1,\mathrm{...}i)\end{array}\end{array}\right.$

$V_j^{op}\left({\mathrm{\Δx}}_j\right)=\frac{V_{\max }}{2}\[\tanh ({\mathrm{\Δx}}_j-x_c)+\tanh \left(x_c\right)\],$

Wherein, x _i(t) be i-th car in the position of t, △ x _i(t)=x _i+1(t)-x _it () represents the front truck distance of i-th car in t, α is coefficient of sensitivity, w _ijbeing that a jth car affects weights coefficient on i-th car with speeding, increasing along with car i and car j distance and reducing, and in certain limit, adjacent vehicle entirety relatively remote vehicle is larger on current vehicle impact.The hyperbolic tangent function of distortion meets the demands, D _ijfor under truck traffic environment, car j is to the connectedness of car i.If the information of receiving, D _ij=1, otherwise D _ij=0.Work as i=j, D _ij=D _ji=1;

optimal speed, wherein V _maxrepresent maximal rate, x _cfor safe distance.

(4) when vehicle arrives bus or train route communication point, the relevant information receiving signal lamp is started with vehicle of speeding, according to the signal information collected and the driving information with vehicle self of speeding, use simplex method algorithm, optimize and revise further the speed of a motor vehicle with vehicle of speeding, while speed is optimized, must meet following feature with vehicle of speeding, its safe spacing is optimized according to truck traffic, use VT-Micro model to evaluate the fuel efficiency of vehicle, be specially:

First vehicle receiver to signal information comprise the state of red light or green light, with the distance of signal lamp, and the residual time length t of red light _ror the residual time length t of green light _g, for making the oil consumption of vehicle as far as possible little, travel as far as possible unobstructed, the weight function choosing acceleration and oil consumption is target function,

Target function L=w ₁| a|+w ₂f (a, v _i):

Wherein, D is communication distance, for arriving initial velocity during communication point, t ₁for acceleration, deceleration required time, t is the traveling total time in bus or train route communication section, and a is acceleration, in order to the oil consumption of vehicle is as far as possible little, travels as far as possible unobstructed, wishes that acceleration is as far as possible little.T _r(t _g) representing the time that current demand signal lamp state becomes red light (green light) and needs respectively, vehicle is obtained by bus or train route communication.D _saferepresent safe spacing;

Ensure that vehicle keeps having certain safe spacing with front vehicles in bus or train route communication optimization rate process, ensure in bus or train route communication optimization rate process, to keep there is certain safe distance with front vehicles with vehicle of speeding, under truck traffic environment, safe spacing combines the instantaneous state of velocity of many cars in front, gets its mean value:

$\begin{array}{c}{d}_{safety}=\frac{1}{3}\[\frac{(v_i^2-v_{i+1}^2)+(v_{i+1}^2-v_{i+2}^2)+(v_{i+2}^2-v_{i+3}^2)}{2a_{\min }}\]\\ =\frac{v_i^2-v_{i+3}^2}{6a_{\min }}\end{array}$

Compared with prior art, the present invention has the following advantages:

1, establish a truck traffic network, bus or train route communication network and transportation network to interact and the car networking super-network framework of formation, intuitive is strong.

2, truck traffic communicates with bus or train route and considers simultaneously, more meets the actual conditions of car networked environment.

3, in truck traffic link, establish truck traffic network, there is coupled maps relation between vehicle, the influence degree between vehicle, along with the difference of distance, is embodied by weight coefficient, more can reflect the situation of true traffic.

4, add bus or train route communication link within the specific limits, save communications cost; By the constraint of algorithm, meet following feature, enormously simplify problem.

Accompanying drawing explanation

Fig. 1 is flow chart of the present invention.

Fig. 2 is the super-network frame diagram of the car networking that the present invention proposes.

Embodiment

Below in conjunction with accompanying drawing, the present invention is further described.

Embodiment 1:

(1) drive manner worked in coordination with by a kind of vehicle communicated with bus or train route based on truck traffic, the method is based on car car Real-Time Sharing movement state information, and to vehicle transmission of information in signal lamp certain limit, vehicle is in different sections, take different driving strategy, optimize the speed of a motor vehicle real-time and accurately, effectively improve traffic efficiency and vehicle fuel efficiency.Specifically comprise the following steps:

A. construct truck traffic network, bus or train route communication network and a transportation network to interact and the car networking super-network framework of formation, at truck traffic layer, can the vehicle of transmission of information mutually be node, can transmission of information mutually between vehicle, then form a limit; In bus or train route communication layers, arrive vehicle in bus or train route communication range and signal lamp is node, signal lamp, to vehicle transmission of information, defines a unidirectional limit; In network of communication lines network layers, each car and signal lamp are node, influence each other, then form a limit if travelled between vehicle, if signal lamp travels vehicle impact, then and the limit that formation one is unidirectional.

B. on the section of car networked environment, consider vehicle location, when when bus or train route communication range is outer, vehicle traveling meets the vehicle following-model under truck traffic environment, considers the front truck distance of many cars in front.The specific descriptions of model are as follows:

$\frac{d^2{x}_i}{{\mathrm{dt}}^2}=\mathrm{\α}\{\underset{j=1}{\overset{i}{\Σ}}{w}_{ij}{D}_{ij}\[V_j^{op}\left({\mathrm{\Δx}}_j\right)-\frac{{\mathrm{dx}}_i}{dt}\]\},$

$\left\{\begin{array}{c}{w}_{ij}^{\′}=\frac{1}{2}\[\tan 5(\frac{j}{i}-\frac{1}{2})+1\],\\ \begin{array}{cc}{w}_{ij}=\frac{w_{ij}^{\′}}{\underset{j=1}{\overset{i}{\Σ}}{w}_{ij}^{\′}},& (j=1,\mathrm{...}i)\end{array}\end{array}\right.$

$V_j^{op}\left({\mathrm{\Δx}}_j\right)\frac{V_{\max }}{2}\[\tanh ({\mathrm{\Δx}}_j-x_c)+\tanh \left(x_c\right)\],$

Wherein, x _i(t) be i-th car in the position of t, △ x _i(t)=x _i+1(t)-x _it () represents the front truck distance of i-th car in t, α is coefficient of sensitivity, w _ijbeing that a jth car affects weights coefficient on i-th car with speeding, increasing along with car i and car j distance and reducing, and in certain limit, adjacent vehicle entirety relatively remote vehicle is larger on current vehicle impact.The hyperbolic tangent function of distortion meets the demands, D _ijunder describing truck traffic environment, car j is to the connectedness of car i.If can information be received, D _ij=1, otherwise D _ij=0.Work as i=j, D _ij=D _ji=1. optimal speed, wherein V _maxrepresent maximal rate, x _cfor safe distance.

C. vehicle reaches bus or train route communication point, receive the relevant information of signal lamp, be optimized adjustment according to signal information to the speed of a motor vehicle to be specially: vehicle receiver to signal information comprise the state of traffic lights, the distance of distance signal lamp, and the residual time length t of red light (green light) _r(t _g),

Target function L=w ₁| a|+w ₂f (a, v _i):

Wherein, D is communication distance, for arriving initial velocity during communication point, t ₁for acceleration, deceleration required time, t is the traveling total time in bus or train route communication section, and a is acceleration, t _r(t _g) representing the time that current demand signal lamp state becomes red light (green light) and needs respectively, vehicle is obtained by bus or train route communication.D _saferepresent safe spacing, ensure that vehicle keeps having certain safe distance with front vehicles in bus or train route communication optimization rate process, under truck traffic environment, safe spacing no longer only considers the speed of current vehicle and front vehicles, but combine the instantaneous state of velocity of many cars in front, get its mean value:

$\begin{array}{c}{d}_{safety}=\frac{1}{3}\[\frac{(v_i^2-v_{i+1}^2)+(v_{i+1}^2-v_{i+2}^2)+(v_{i+2}^2-v_{i+3}^2)}{2a_{\min }}\]\\ =\frac{v_i^2-v_{i+3}^2}{6a_{\min }}\end{array}$

In order to the oil consumption of vehicle is as far as possible little, acceleration is as far as possible little.The weight function choosing acceleration and oil consumption is target function.W ₁represent the weight coefficient of vehicle at car light communication section acceleration, w ₂represent the weight coefficient of fuel efficiency, use VT-Micro model to evaluate the fuel efficiency of vehicle:

Wherein, f (a _i, v _i) represent when acceleration and speed are respectively a _iand v _itime vehicle transient fuel amount, L _p,jand M _p,jbe regression coefficient.

(2) above-mentioned a kind of vehicle communicated with bus or train route based on truck traffic work in coordination with drive manner communicate with bus or train route primarily of truck traffic following-speed model under speed of a motor vehicle dynamic improving process, by comparing the emulation of vehicle fuel efficiency, the superiority of this invention is confirmed.

Fig. 1 is the idiographic flow that drive manner worked in coordination with by the vehicle communicated with bus or train route based on truck traffic, and under car networked environment, we communicate with bus or train route with regard to truck traffic respectively, is optimized, is described in detail according to Fig. 1 to following steps the driving behavior of vehicle:

In step 1, set up a truck traffic network, bus or train route communication network and transportation network and interact and the car networking super-network framework that formed, as shown in Figure 2, the truck traffic under directviewing description car networked environment and bus or train route communication scenario.Then the position of vehicle is judged.

In step 2, vehicle is outside bus or train route communication range, vehicle travels not by the impact of signal lamp, but truck traffic plays a role, in truck traffic network layer, exchange front truck between vehicle apart from information, these information comprehensive, be fused in conventional truck following-speed model, form the vehicle following-model under truck traffic environment, vehicle is also according to this adjustment speed of a motor vehicle.

In step 3, vehicle reaches bus or train route communication range point, in bus or train route communication network layer, relevant information (the cycle of signal lamp, traffic lights current state and residual time length) pass to vehicle, the weight function of acceleration and fuel efficiency is target function, use simplex method algorithm, the motor behavior of vehicle is planned, have between vehicle safe distance constraint, safe distance is optimized by the information of vehicles transmission of truck traffic, the velocity information of many cars in comprehensive front, ensureing, under the prerequisite that vehicle does not collide, to obtain more rational safe spacing.

Fig. 2 represents that a truck traffic network, bus or train route communication network and transportation network interact and the car networking super-network framework of formation, at truck traffic layer, can the vehicle of transmission of information mutually be node, can transmission of information mutually between vehicle, then form a limit; In bus or train route communication layers, arrive vehicle in bus or train route communication range and signal lamp is node, signal lamp, to vehicle transmission of information, defines a unidirectional limit; In network of communication lines network layers, each car and signal lamp are node, influence each other, then form a limit if travelled between vehicle, if signal lamp travels vehicle impact, then and the limit that formation one is unidirectional.

Claims (2)

1. drive manner worked in coordination with by the vehicle communicated with bus or train route based on truck traffic, it is characterized in that described method has the speed-optimization of vehicle on signal lamp section under car networked environment, described vehicle is worked in coordination with drive manner and is worked in coordination with pilot instrument realization by vehicle, and described vehicle is worked in coordination with pilot instrument and is divided into truck traffic layer, network of communication lines network layers and car light communication layers successively; Concrete steps are as follows:

(1) respectively with the signal lamp of the vehicle of truck traffic layer and car light communication layers for node, construct one and interacted by truck traffic network, bus or train route communication network and transportation network and the car networking super-network framework that formed;

(2) a bus or train route communication point is being set with communication distance D place, signal lamp front, when the distance of vehicle and bus or train route communication point is greater than communication distance D, described vehicle does not affect by signal lamp, head car travels by raw velocity, then to perform the vehicle following-model traveling under the truck traffic environment of truck traffic layer with vehicle of speeding by step (3);

(3) with vehicle of speeding by the communication between vehicle, obtain the following distance information of many vehicles in front, to described following distance information weighting, summation and normalization, obtain comprehensive with following distance information that is many cars in front, revise the former following-speed model with vehicle of speeding thus, obtain the vehicle following-model under new truck traffic environment, describedly adjust the speed of a motor vehicle with vehicle of speeding according to vehicle following-model;

$\frac{d^2{x}_i}{{\mathrm{dt}}^2}=\mathrm{\α}\{\underset{j=1}{\overset{i}{\Σ}}{w}_{ij}{D}_{ij}\[V_j^{op}\left({\mathrm{\Δx}}_j\right)-\frac{{\mathrm{dx}}_i}{dt}\]\},$

$\{\begin{array}{c}{w}_{ij}^{\′}=\frac{1}{2}\[\tanh 5(\frac{j}{i}-\frac{1}{2})+1\]\\ w_{ij}=\frac{w_{ij}^{\′}}{\underset{j=1}{\overset{i}{\mathrm{\Σ}}}{w}_{ij}^{\′}},(j=1,...,i)\end{array},$

$V_j^{op}\left({\mathrm{\Δx}}_j\right)=\frac{V_{\max }}{2}\[\tanh ({\mathrm{\Δx}}_j-x_c)+\tanh \left(x_c\right)\],$

Wherein, x _i(t) be i-th car in the position of t, △ x _i(t)=x _i+1(t)-x _it () represents the front truck distance of i-th car in t, α is coefficient of sensitivity, w _ijbeing that a jth car affects weights coefficient on i-th car with speeding, increasing along with car i and car j distance and reducing, and in certain limit, adjacent vehicle entirety relatively remote vehicle is larger on current vehicle impact; The hyperbolic tangent function of distortion meets the demands, D _ijfor under truck traffic environment, car j is to the connectedness of car i; If the information of receiving, D _ij=1, otherwise D _ij=0; Work as i=j, D _ij=D _ji=1;

optimal speed, wherein V _maxrepresent maximal rate, x _cfor safe distance;

(4) when vehicle arrives bus or train route communication point, the relevant information receiving signal lamp is started with vehicle of speeding, according to the signal information collected and the driving information with vehicle self of speeding, use simplex method algorithm, the speed of a motor vehicle with vehicle of speeding is optimized and revised further, while speed is optimized, must meet following feature with vehicle of speeding, its safe spacing is optimized according to truck traffic, uses VT-Micro model to evaluate the fuel efficiency of vehicle.

2. drive manner worked in coordination with by the vehicle communicated with bus or train route based on truck traffic according to claim 1, it is characterized in that arriving bus or train route communication point with vehicle of speeding, receive the relevant information of signal lamp, vehicle is optimized adjustment according to signal information to the speed of a motor vehicle, is specially:

First vehicle receiver to signal information comprise the state of red light or green light, with the distance of signal lamp, and the residual time length t of red light _ror the residual time length t of green light _g, for making the oil consumption of vehicle as far as possible little, travel as far as possible unobstructed, the weight function choosing acceleration and oil consumption is target function;

Target function L=w ₁| a|+w ₂f (a, v _i):

The current green light of current red light

s.t:s.t:

(1) $(v_i^{ini}{t}_1+\frac{1}{2}{\mathrm{at}}_1^2)+(v_i^{ini}+{\mathrm{at}}_1)(t-t_1)=D$ (1) $(v_i^{ini}{t}_1+\frac{1}{2}{\mathrm{at}}_1^2)+(v_i^{ini}+{\mathrm{at}}_1)(t-t_1)=D$

(2)0≤t ₁≤t(2)0≤t ₁≤t

(3) t _g≤ t≤t _r(3) 0≤t≤t _ras do not separated, t=t _g

(4)-3≤a≤3(4)-3≤a≤3

(5)0≤v ₀+at ₁≤v _max(5)0≤v ₀+at ₁≤v _max

(6)△x _i(t)＝x _i+1(t)-x _i(t)<d _safe(6)△x _i(t)＝x _i+1(t)-x _i(t)<d _safe

Wherein, D is communication distance, for arriving initial velocity during communication point, t ₁for acceleration, deceleration required time, t is the traveling total time in bus or train route communication section, and a is acceleration, in order to the oil consumption of vehicle is as far as possible little, travels as far as possible unobstructed, wishes that acceleration is as far as possible little.T _r(t _g) representing the time that current demand signal lamp state becomes red light (green light) and needs respectively, vehicle is obtained by bus or train route communication, d _saferepresent safe spacing;

Ensure that vehicle keeps having certain safe spacing with front vehicles in bus or train route communication optimization rate process, ensure in bus or train route communication optimization rate process, to keep there is certain safe distance with front vehicles with vehicle of speeding, under truck traffic environment, safe spacing combines the instantaneous state of velocity of many cars in front, gets its mean value:

$\begin{array}{c}{d}_{safety}=\frac{1}{2}\&lsqb;\frac{(v_i^2-v_{i\mathrm{+1}}^2)+(v_{i+1}^2-v_{i\mathrm{+2}}^2)+(v_{i+2}^2-v_{i\mathrm{+3}}^2)}{2a_{\min }}\&rsqb;\\ =\frac{v_i^2-v_{i\mathrm{+3}}^2}{6a_{\min }}\end{array}.$