CN105577771B - A kind of vehicle collaboration drive manner communicated based on truck traffic and bus or train route - Google Patents
A kind of vehicle collaboration drive manner communicated based on truck traffic and bus or train route Download PDFInfo
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- CN105577771B CN105577771B CN201510952704.3A CN201510952704A CN105577771B CN 105577771 B CN105577771 B CN 105577771B CN 201510952704 A CN201510952704 A CN 201510952704A CN 105577771 B CN105577771 B CN 105577771B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Abstract
New drive manner is cooperateed with based on the vehicle of truck traffic and bus or train route communication environment the present invention relates to a kind of, it include: to establish truck traffic network, bus or train route communication network and vehicle driving transportation network using the vehicle of one-way traffic on road and signal lamp as node.Three-layer network interaction, to form three layers of super-network framework.For truck traffic network using vehicle as node, vehicle mutually transmits related driving information；For bus or train route communication network using a certain range of vehicle and signal lamp as node, the relevant information of signal lamp passes to vehicle；On the basis of truck traffic network and bus or train route communicate, vehicle is adjusted speed according to the vehicle following-model under truck traffic in truck traffic section, uses simplex method algorithm in bus or train route communication section, carries out dynamic adjustment to speed.While guaranteeing safe driving of vehicle, by the technology of wireless communication, vehicle energy consumption is reduced, improves traffic efficiency of the vehicle on road.
Description
Technical field
The present invention relates to a kind of vehicles to cooperate with drive manner, more particularly to a kind of vehicle communicated in truck traffic and bus or train route
Collaboration drive manner.
Background technique
With the rapid development and application of wireless communication technique and mobile ad hoc networks technology, using vehicle as the information system of node
System-" car networking " becomes the new direction that intelligent transportation is expanded." car networking ", which refers to, collects by vehicle, handles and shares a large amount of letters
Breath be linked vehicle and vehicle, vehicle and roadside device, vehicle and pedestrian and bicycle and vehicle and urban network can mutually.
With the development of intelligent transportation system, truck traffic and bus or train route communication all have become possibility, for promotion people, road,
The car networking research of vehicle close coordination has great importance, and probes into and how to improve to conventional model, proposes to be suitable for vehicle-
Vehicle communication and Che-road communication links vehicle cooperate with drive manner, have important theoretical and practical significance.
Under truck traffic, bus or train route communication environment, vehicle can not only obtain the motion state of Adjacent vehicles, also can get one
The information of other vehicles within the scope of set a distance, vehicle can be travelled more intelligently, and in recent years, some experts and scholars propose
Microcosmic traffic flow model based on truck traffic, these models have a common ground mostly: under truck traffic environment on road
Vehicle, collects the following distance information of the more vehicles in front, then adjusts speed, and for there is the section of signal lamp, vehicle and signal
Lamp considers that the research of truck traffic is seldom with the thought of complex network as node.And instantly to the research master of bus or train route communication
It concentrates on, by the information of signal lamp, chooses suitable algorithm and dynamic optimization is carried out to the speed of a vehicle.In conclusion
Truck traffic and bus or train route communicate the important link as car networking, and the two is integrated consideration by few researchs at present, this with
Actual conditions are inconsistent；This patent considers the list in speed following-speed model and bus or train route the communication section truck traffic section
Pure shape method optimal velocity model combines.Meanwhile the combination of transportation network and communication network, one is formd with vehicle and signal
Lamp is the complex network of node.It is also very intuitive that car networking is described with the viewpoint of network, the present invention comes therefrom.
Summary of the invention
In order to more intuitively describe the vehicle driving under car networking environment, truck traffic and bus or train route communication scenario, the present invention
The car networking super-network frame for proposing a truck traffic network, bus or train route communication network and transportation network interaction and being formed
Frame specifically describes are as follows:
In truck traffic layer, the vehicle that can mutually transmit information is node, can mutually transmit information between vehicle, then
Form a line；In bus or train route communication layers, reaching vehicle and signal lamp in bus or train route communication range is node, and signal lamp is to vehicle
Information is transmitted, a unidirectional side is formd；In network of communication lines network layers, each car and signal lamp are node, are travelled between vehicle
If influenced each other, a line is formed, if signal lamp has an impact to vehicle driving, forms a unidirectional side.
The present invention gives specifically truck traffic, car light communication and the vehicle drive in car networking super-network frame
Algorithm provides a kind of vehicle collaboration drive manner communicated based on truck traffic and bus or train route.It is moved based on vehicle vehicle Real-Time Sharing
Signal lamp transmits information to vehicle in status information and a certain range, and vehicle real-time and accurately optimizes speed, effectively improves
Traffic efficiency and vehicle fuel efficiency.
It is specific the technical solution adopted is that:
A kind of vehicle communicated based on truck traffic and bus or train route proposed by the present invention cooperates with drive manner, and the method is used for
There is the speed-optimization of vehicle on signal lamp section under car networking environment, the vehicle collaboration drive manner is cooperateed with by vehicle to be driven
Device realizes that the vehicle collaboration pilot instrument is divided into truck traffic layer, network of communication lines network layers and car light communication layers；Specific step
It is rapid as follows:
(1) respectively using the vehicle of truck traffic layer and the signal lamp of car light communication layers as node, one is constructed by Che Chetong
The car networking super-network frame of communication network, bus or train route communication network and transportation network interaction and formation；
(2) with signal lamp in front of a bus or train route communication point is set at communication distance D, when vehicle and bus or train route communication point away from
When from being greater than communication distance D, the vehicle is not influenced by signal lamp, and head vehicle is travelled by raw velocity, with vehicle of speeding by step (3)
Then execute the vehicle following-model traveling under the truck traffic environment of truck traffic layer；
(3) the following distance information of the more vehicles in front is obtained, to the workshop by the communication between vehicle with vehicle of speeding
Away from information weighting, summation and normalization, the comprehensive following distance information with more of front vehicle is obtained, thus modification original is with vehicle of speeding
Following-speed model, obtain the vehicle following-model under new truck traffic environment, it is described with vehicle of speeding according to vehicle following-model
Speed is adjusted, specific as follows:
Wherein, xiIt (t) is i-th vehicle in the position of t moment, △ xi(t)=xi+1(t)-xi(t) indicate i-th vehicle in t
The front truck at quarter is away from α is sensitivity coefficient, wijBeing jth vehicle influences weight coefficient with speeding to i-th vehicle, with vehicle i and vehicle j away from
Reduce from increase, and in a certain range, the whole relatively remote vehicle of adjacent vehicle, on working as, front truck influence is bigger.Deformation
Hyperbolic tangent function is met the requirements, DijFor under truck traffic environment, connectivity of the vehicle j to vehicle i.If receiving information, Dij=
1, otherwise Dij=0.Work as i=j, Dij=Dji=1；
It is optimal speed, wherein VmaxIndicate maximum speed, xcFor safe distance.
(4) when vehicle arrival bus or train route communication point, the relevant information of signal lamp is initially received with vehicle of speeding, according to collection
Signal information and driving information with vehicle itself of speeding, with simplex method algorithm, to the speed with vehicle of speeding carry out into
One-step optimization adjustment, must satisfy following feature with vehicle of speeding while speed obtains optimization, safe spacing is according to vehicle vehicle
Communication optimizes, and the fuel efficiency of vehicle is evaluated with VT-Micro model, specifically:
The signal information that vehicle receives first includes the state of red light or green light, at a distance from signal lamp, Yi Jihong
The residual time length t of lamprOr the residual time length t of green lightg, to keep the oil consumption of vehicle small as far as possible, travel unobstructed as far as possible, selection acceleration
Weight function with oil consumption is objective function,
Objective function L=w1|a|+w2f(a,vi):
Wherein, D is communication distance,To reach initial velocity when communication point, t1The time required to accelerating, slowing down, t is
Bus or train route communicates the traveling total time in section, and a is acceleration, in order to which the oil consumption of vehicle is small as far as possible, travels unobstructed as far as possible, it is desirable to accelerate
It spends small as far as possible.tr(tg) respectively indicate current signal light state and become the time of red light (green light) needs, vehicle is logical by bus or train route
Letter obtains.dsafeIndicate safe spacing；
Guarantee that vehicle keeps having certain safe spacing with front vehicles in bus or train route communication optimization rate process, guarantee with
Speed vehicle kept in bus or train route communication optimization rate process with front vehicles have certain safe distance, in truck traffic environment
Under, safe spacing combines the instantaneous state of velocity of the more vehicles in front, take its average value:
Compared with prior art, the invention has the following advantages that
1, the vehicle connection for establishing a truck traffic network, bus or train route communication network and transportation network interaction and being formed
Net super-network frame, intuitive are strong.
2, truck traffic and bus or train route communicate while considering, more meet the actual conditions of car networking environment.
3, in truck traffic link, truck traffic network is established, there are coupled maps relationship between vehicle, between vehicle
Influence degree with the difference of distance, embodied by weighting coefficient, can more reflect the situation of true traffic.
4, bus or train route communication links are added in a certain range, have saved communications cost；By the constraint of algorithm, meet with
It speeds characteristic, enormously simplifies problem.
Detailed description of the invention
Fig. 1 is flow chart of the invention.
Fig. 2 is the super-network frame diagram of car networking proposed by the present invention.
Specific embodiment
The following further describes the present invention with reference to the drawings.
Embodiment 1:
(1) a kind of vehicle communicated based on truck traffic and bus or train route cooperates with drive manner, and this method is based on vehicle vehicle in real time altogether
It enjoys in movement state information and signal lamp a certain range and transmits information to vehicle, vehicle is taken different in different sections
Driving strategy real-time and accurately optimizes speed, effectively improves traffic efficiency and vehicle fuel efficiency.Specifically include following step
It is rapid:
A. the car networking for constructing a truck traffic network, bus or train route communication network and transportation network interaction and being formed
Super-network frame, in truck traffic layer, the vehicle that can mutually transmit information is node, can mutually transmit letter between vehicle
Breath, then form a line；In bus or train route communication layers, the vehicle and signal lamp reached in bus or train route communication range is node, signal lamp
Information is transmitted to vehicle, forms a unidirectional side；In network of communication lines network layers, each car and signal lamp are node, vehicle it
If traveling influences each other between, forms a line, if signal lamp has an impact to vehicle driving, forms a unidirectional side.
B. on the section of car networking environment, consider vehicle location, when outside bus or train route communication range, vehicle driving meets
Vehicle following-model under truck traffic environment, it is contemplated that the front truck of the more vehicles in front away from.Model is described in detail below:
Wherein, xiIt (t) is i-th vehicle in the position of t moment, △ xi(t)=xi+1(t)-xi(t) indicate i-th vehicle in t
The front truck at quarter is away from α is sensitivity coefficient, wijBeing jth vehicle influences weight coefficient with speeding to i-th vehicle, with vehicle i and vehicle j away from
Reduce from increase, and in a certain range, the whole relatively remote vehicle of adjacent vehicle, on working as, front truck influence is bigger.Deformation
Hyperbolic tangent function is met the requirements, DijIt describes under truck traffic environment, connectivity of the vehicle j to vehicle i.If can receive letter
Breath, Dij=1, otherwise Dij=0.Work as i=j, Dij=Dji=1.It is optimal speed, wherein VmaxIndicate maximum speed, xc
For safe distance.
C. vehicle reaches bus or train route communication point, receives the relevant information of signal lamp, according to signal information to speed into
Row is optimized and revised specifically: and the signal information that vehicle receives includes the state of traffic lights, the distance of distance signal lamp, and
The residual time length t of red light (green light)r(tg),
Objective function L=w1|a|+w2f(a,vi):
Wherein, D is communication distance,To reach initial velocity when communication point, t1The time required to accelerating, slowing down, t is
Bus or train route communicates the traveling total time in section, and a is acceleration, tr(tg) respectively indicate current signal light state and become red light (green light)
The time needed, vehicle communicate to obtain by bus or train route.dsafeIt indicates safe spacing, guarantees vehicle in bus or train route communication optimization speed mistake
Keep having certain safe distance with front vehicles in journey, under truck traffic environment, safe spacing no longer only considers current
The speed of vehicle and front vehicles, and it is combined with the instantaneous state of velocity of the more vehicles in front, take its average value:
In order to which the oil consumption of vehicle is small as far as possible, acceleration is small as far as possible.The weight function for choosing acceleration and oil consumption is target letter
Number.w1Indicate vehicle in the weight coefficient of car light communication section acceleration, w2The weight coefficient for indicating fuel efficiency, with VT-
Micro model evaluates the fuel efficiency of vehicle:
Wherein, f (ai,vi) indicate that when acceleration and speed be respectively aiAnd viWhen vehicle transient fuel amount, Lp,jWith
Mp,jIt is regression coefficient.
(2) a kind of above-mentioned vehicle collaboration drive manner communicated based on truck traffic and bus or train route mainly by truck traffic with
Speed model and bus or train route communication under speed dynamic improving process, compared by the emulation to vehicle fuel efficiency, the invention it is excellent
More property is confirmed.
Fig. 1 is the detailed process of the vehicle collaboration drive manner communicated based on truck traffic and bus or train route, in car networking environment
Under, we communicate with regard to truck traffic and bus or train route respectively, optimize to the driving behavior of vehicle, according to Fig. 1 to following steps
It is described in detail:
In step 1, a truck traffic network, bus or train route communication network and transportation network interaction are established and is formed
Car networking super-network frame, as shown in Fig. 2, truck traffic and bus or train route communication scenario under directviewing description car networking environment.
Then judge the position of vehicle.
In step 2, except bus or train route communication range, vehicle driving is not influenced vehicle by signal lamp, but Che Chetong
Letter plays a role, and front truck is exchanged between truck traffic network layer, vehicle away from information, these comprehensive information are fused to traditional vehicle
In following-speed model, the vehicle following-model under truck traffic environment is formed, vehicle also adjusts speed according to this.
In step 3, vehicle reaches bus or train route communication range point, in bus or train route communication network layer, the relevant information of signal lamp
(period, traffic lights current state and residual time length) passes to vehicle, and the weight function of acceleration and fuel efficiency is target letter
Number, with simplex method algorithm, plans the motor behavior of vehicle, there is the constraint of safe distance between vehicle, safety away from
It optimizes from the information of vehicles transmitting by truck traffic, the velocity information of the more vehicles in comprehensive front, is not touched in guarantee vehicle
Under the premise of hitting, more reasonable safe spacing has been obtained.
The vehicle that Fig. 2 indicates a truck traffic network, bus or train route communication network and transportation network interaction and formed joins
Net super-network frame, in truck traffic layer, the vehicle that can mutually transmit information is node, can mutually transmit letter between vehicle
Breath, then form a line；In bus or train route communication layers, the vehicle and signal lamp reached in bus or train route communication range is node, signal lamp
Information is transmitted to vehicle, forms a unidirectional side；In network of communication lines network layers, each car and signal lamp are node, vehicle it
If traveling influences each other between, forms a line, if signal lamp has an impact to vehicle driving, forms a unidirectional side.
Claims (1)
1. a kind of vehicle communicated based on truck traffic and bus or train route cooperates with drive manner, it is characterised in that the method joins for vehicle
There is the speed-optimization of vehicle on signal lamp section under net environment, the vehicle collaboration drive manner cooperates with pilot instrument by vehicle
It realizes, the vehicle collaboration pilot instrument is divided into truck traffic layer, network of communication lines network layers and car light communication layers；Specific steps are such as
Under:
(1) respectively using the vehicle of truck traffic layer and the signal lamp of car light communication layers as node, one is constructed by truck traffic net
The car networking super-network frame of network, bus or train route communication network and transportation network interaction and formation；
(2) with signal lamp in front of a bus or train route communication point is set at communication distance D, when vehicle is big at a distance from bus or train route communication point
When communication distance D, the vehicle is not influenced by signal lamp, and head vehicle is travelled by raw velocity, is then held with speeding vehicle by step (3)
Vehicle following-model traveling under the truck traffic environment for vehicle communication layers of driving a vehicle；
(3) the following distance information of the more vehicles in front is obtained, the following distance is believed by the communication between vehicle with vehicle of speeding
Breath weighting, summation and normalization, obtain the comprehensive following distance information with more of front vehicle, thus modification it is former with vehicle of speeding with
It speeds model, obtains the vehicle following-model under new truck traffic environment, it is described to be adjusted with speeding vehicle according to vehicle following-model
Speed；
Wherein, xiIt (t) is i-th vehicle in the position of t moment, Δ xi(t)=xi+1(t)-xi(t) indicate i-th vehicle in t moment
Front truck is away from α is sensitivity coefficient, wijBeing jth vehicle influences weight coefficient with speeding to i-th vehicle, as vehicle i and vehicle j distance increase
Reduce greatly, and in a certain range, the whole relatively remote vehicle of adjacent vehicle, on working as, front truck influence is bigger；The hyperbolic of deformation
Tangent function is met the requirements, DijFor under truck traffic environment, connectivity of the vehicle j to vehicle i；If receiving information, Dij=1, it is no
Then Dij=0；Work as i=j, Dij=Dji=1；
It is optimal speed, wherein VmaxIndicate maximum speed, xcFor safe distance；
(4) when vehicle arrival bus or train route communication point, the relevant information of signal lamp is initially received with vehicle of speeding, according to the signal of collection
Lamp information and driving information with vehicle itself of speeding carry out the speed with vehicle of speeding further with simplex method algorithm
It optimizes and revises, must satisfy following feature with vehicle of speeding while speed obtains optimization, safe spacing is according to truck traffic
It optimizes, the fuel efficiency of vehicle is evaluated with VT-Micro model；
Wherein: with speeding, vehicle reaches bus or train route communication point, receives the relevant information of signal lamp, vehicle is according to signal information to vehicle
Speed optimizes adjustment, specifically:
The signal information that vehicle receives first includes the state of red light or green light, at a distance from signal lamp and red light
Residual time length trOr the residual time length t of green lightg, to keep the oil consumption of vehicle small as far as possible, travel unobstructed as far as possible, selection acceleration and oil
The weight function of consumption is objective function；
Objective function L=w1|a|+w2f(a,vi):
w1Indicate vehicle in the weight coefficient of car light communication section acceleration, w2The weight coefficient for indicating fuel efficiency, with VT-
Micro model evaluates the fuel efficiency of vehicle:
Wherein, f (ai,vi) indicate that when acceleration and speed be respectively aiAnd viWhen vehicle transient fuel amount,
Lp,jAnd Mp,jIt is regression coefficient；
Wherein, D is communication distance,To reach initial velocity when communication point, t1The time required to accelerating, slowing down, t is bus or train route
The traveling total time in section is communicated, a is acceleration, in order to which the oil consumption of vehicle is small as far as possible, is travelled unobstructed as far as possible, it is desirable to which acceleration is most
It measures small；tr(tg) respectively indicate current signal light state and become the time of green light (red light) needs, vehicle communicated by bus or train route
It arrives；dsafeIndicate safe spacing；
Guarantee that vehicle keeps having certain safe spacing with front vehicles in bus or train route communication optimization rate process, guarantees with vehicle of speeding
Keep having certain safe distance with front vehicles in bus or train route communication optimization rate process, under truck traffic environment, peace
Full spacing combines the instantaneous state of velocity of the more vehicles in front, takes its average value:
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| CN106004862B (en) * | 2016-05-18 | 2018-02-27 | 江苏大学 | A kind of traffic intersection heavy goods vehicle Braking mode control method based on car networking |
| CN107730931B (en) * | 2017-09-20 | 2020-07-17 | 北方工业大学 | Vehicle formation control and signal optimization method under vehicle-road cooperative environment |
| CN108696516B (en) * | 2018-05-08 | 2021-06-08 | 成都信息工程大学 | Soeks-based intelligent networked vehicle multi-domain information security mechanism cooperation method |
| CN108896063A (en) * | 2018-05-31 | 2018-11-27 | 同济大学 | A kind of identification of gyroscope road condition and reminding method based on bus or train route collaboration |
| CN109101689B (en) * | 2018-07-06 | 2023-01-31 | 同济大学 | Curve fitting modeling method for calculating optimal following distance based on vehicle behavior adjustment model |
| CN111210627A (en) * | 2020-01-13 | 2020-05-29 | 深圳大学 | Narrow road multi-vehicle cooperative driving method and related device |
| US10984653B1 (en) * | 2020-04-03 | 2021-04-20 | Baidu Usa Llc | Vehicle, fleet management and traffic light interaction architecture design via V2X |
| CN111923884B (en) * | 2020-09-11 | 2021-02-09 | 深圳小木科技有限公司 | New energy automobile and braking system and method thereof |
| CN112133129B (en) * | 2020-09-25 | 2022-03-18 | 安徽沁联软件科技有限公司 | Traffic intersection automatic warning system based on intelligent network connection technology |
| CN114103969B (en) * | 2021-12-28 | 2024-03-12 | 西南大学 | Vehicle speed determining method and system |
| CN115620423A (en) * | 2022-10-08 | 2023-01-17 | 广州市城市规划勘测设计研究院 | Intersection fleet energy consumption and emission estimation method, device, medium and equipment |
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