CN105741585A - Fuel-economizing-oriented vehicle track smoothing control method based on Internet-of-vehicles - Google Patents

Abstract

A fuel-economizing-oriented vehicle track smoothing control method based on Internet-of-vehicles belongs to the field of Internet-of-vehicles controlling. Problems of total stoppage waiting, parking delay and fuel consumption at an intersection cannot be prevented in existing signal timing control. The fuel-economizing-oriented vehicle track smoothing control method based on Internet-of-vehicles comprises the steps of determining a control area dividing method, wherein the control area dividing method comprises a basic area dividing and control point optimizing method; identifying a specific area in a control area according to a rule which is obeyed in identifying the specific vehicle; calculating a suggested speed value, and performing vehicle track control on the specific vehicle which is identified in the second step according to the suggested speed value. The fuel-economizing-oriented vehicle track smoothing control method has advantages of improving traffic efficiency and reducing fuel consumption.

Description

The track of vehicle smooth control method based on car networking towards fuel-economizing

Technical field

The present invention relates to a kind of track of vehicle smooth control method based on car networking towards fuel-economizing.

Background technology

Along with location technology, information Perception technology, developing rapidly of ICT and mobile interchange technology, car networking has had become as the inexorable trend of next step development of intelligent transportation, particularly under the background that automatic Pilot technology is flourish, cause the urgent needs of the research and development to car networking technology and application, car networking technology is made to obtain global traffic, automobile, the energy, showing great attention to of the related industries such as environment, also caused world community at the new round scientific contest of car networking arenas simultaneously, the commanding elevation of its target contention science and technology beyond doubt and economic emerging growth point.

Traffic flow, as the bottleneck in city road network, is interrupted effect by signalized intersections, the key node that traffic congestion and vehicle accident occur often.Traditional signalized intersections controls to focus primarily on adjustment Traffic Signal Timing to regulate the travel pattern of arrival, to alleviate the increase of traffic congestion that " take a walk-stopping stopping " traffic brings and fuel oil consumption and discharge.This kind of method includes excitation control, Self Adaptive Control and signal Collaborative Control.Although, in actual applications, this kind of control brings significant impact to signalized intersections, its core be in that transport information accurate, detect in real time.Currently, the conventional transport information detection equipment in signalized intersections place specifically includes that coil checker, microwave detector and video detector etc..On the one hand, the laying of such detector and maintenance have higher cost；On the other hand, the control of signal timing dial does not eliminate the complete parking waiting in crossing, and stop delay and the fuel oil consumption of crossing's vehicle are still had a great impact by this.

Summary of the invention

The invention aims to solve existing signal timing dial and control to eliminate the complete parking waiting of crossing and the problem of stop delay and fuel oil consumption impact, and propose a kind of track of vehicle smooth control method based on car networking towards fuel-economizing.

A kind of track of vehicle smooth control method based on car networking towards fuel-economizing, described method is realized by following steps:

Step one, determining control area division methods, wherein control area division methods includes fundamental region and divides and control points optimization method；

Step 2, the rule followed according to particular vehicle identification, identify the particular vehicle in control area；

Step 3, calculate speed suggestion value, and particular vehicle step 2 determined according to speed suggestion value carries out track of vehicle control.

The invention have the benefit that

The invention discloses a kind of track of vehicle smooth control method based on car networking towards fuel-economizing.The method utilizes car networking technology, entrance ingress before signal intersection parking line is marked off one-stage control region, subsequently according to corresponding traffic signal timing information and vehicle operating information, identify particular vehicle, it is carried out variable speed control, thus crossing can be passed through when green light phase place starts, and then impact thereafter with vehicle of speeding, the traffic efficiency of promotion signal crossing, reduces the fuel oil consumption of vehicle.

The car networking technology that the present invention proposes, realize vehicle and vehicle, information sharing between vehicle and infrastructure, thus the environmental information obtained exactly around signalized intersections, and effectively dope the vehicle running orbit in crossing, and then in conjunction with dynamic speed control method (DSC), real-time traffic behavior is responded with this by dynamically regulating the speed restriction of vehicle, and by mobile unit, driver is pointed out, thus smooth track of vehicle, promote traffic usefulness, reduce oil consumption.

Accompanying drawing explanation

Fig. 1 is the flow chart of the present invention；

Fig. 2 is that the region, control zone, crossing inlet road that the present invention relates to divides schematic diagram；

Fig. 3 is the DIRECT algorithm logic figure that the present invention relates to；

Fig. 4 is that the still track of vehicle that the present invention relates to controls schematic diagram；

Detailed description of the invention

Detailed description of the invention one:

The track of vehicle smooth control method based on car networking towards fuel-economizing of present embodiment, in conjunction with the flow chart shown in Fig. 1, described method is realized by following steps:

Step one, determining control area division methods, wherein control area division methods includes fundamental region and divides and control points optimization method；The control effect of track of vehicle control method is had obvious impact by it；

Step 2, the rule followed according to particular vehicle identification, identify the particular vehicle in control area；

Step 3, calculate speed suggestion value, and particular vehicle step 2 determined according to speed suggestion value carries out track of vehicle control.

Detailed description of the invention two:

With detailed description of the invention one the difference is that the track of vehicle smooth control method based on car networking towards fuel-economizing of, present embodiment, the process that fundamental region described in step one divides is,

Utilize DSRC communication mode and GPS localization method to determine the span of control in crossing inlet road, control area is divided into relief area, deceleration area and accelerating region these three fundamental region simultaneously；As in figure 2 it is shown, be that region, control zone, crossing inlet road divides schematic diagram；

For single bicycle road entrance driveway, by the position in control area residing for DSRC communication check vehicle.Wherein,

The effect of relief area is that the communication between vehicle and infrastructure is tested, and predicts the driving trace of vehicle simultaneously, sets the length of relief area as L₁；

The effect of deceleration area is by providing speed suggestion value, guiding vehicle Reduced Speed Now to vehicle-mounted App, sets the length of deceleration area as L₂；

Accelerating region is by providing speed suggestion value to vehicle-mounted App, and guiding vehicle gives it the gun, and sets the length of accelerating region as L₃；

The total length in setup control region is L, then guarantee that the length of each fundamental region that vehicle has enough spaces to be accelerated and slow down is respectively as follows:

$L_2\≥\frac{v_{\max }^2}{2d}$

$L_3=\frac{v_{\max }^2}{2a}$

Three fundamental regions should belong in the span of control in master control region: L₁+L₂+L₃=L；

In formula, v_maxRepresent the max speed that deceleration area or accelerating region section allow；D represents the maximum deceleration that deceleration area section allows；A represents the peak acceleration that accelerating region section allows.

Detailed description of the invention three:

With detailed description of the invention one or two the difference is that the track of vehicle smooth control method based on car networking towards fuel-economizing of, present embodiment, described in step one, determine that the process of control point method for optimizing position is,

Described control point position optimization be determine relief area, deceleration area and accelerating region these three fundamental region by step one after, according to fuel-economizing target, position, control point is optimized, it is determined that the final lengths of three fundamental regions, particularly as follows:

Step one by one, introduce VT-micro Fuel consumption and discharge model, the fuel oil consumption of the rolling stock of crossing is calculated, computing formula is as follows:

$FC=\underset{n=1}{\overset{N}{\Σ}}\underset{{x_n}^{-1}\left(0\right)}{\overset{{x_n}^{-1}\left(L\right)}{\∫}}\exp \left\{\underset{i=0}{\overset{3}{\Σ}}\underset{j=0}{\overset{3}{\Σ}}{K}_{ij}{v_n}^i\left(t\right){a_n}^j\left(t\right)\right\}dt$

Wherein, VT-micro Fuel consumption and discharge model refer to the instantaneous velocity according to vehicle and its instantaneous oil consumption of acceleration calculation；Control point refers to the cut-point between relief area and deceleration area, the control point between deceleration area and accelerating region；

In formula, N is total vehicle number；x_n ^-1(0) represent that n-th car enters the time of the relief area of control area；x_n ^-1(L) represent that n-th car leaves the time of relief area；K is the constant coefficient matrix of 4 × 4, and concrete condition is referred to document (Ahn1998)；Represent n-th car i power in t speed；Show n-th car i power in t speed；

Step one two, utilize DIRECT optimized algorithm that the position at control point is optimized, DIRECT algorithm logic figure as shown in Figure 3:

First, emulator exports the fuel consumption of the system at each candidate control point；

Second, based on the evaluation to fuel consumption, DIRECT algorithm finds out next feasible candidate point by the segmentation of multistage rectangle, until finding the position, control point of optimum.

Wherein, DIRECT optimizes and refers to that rectangle is split at last.

Detailed description of the invention four:

With detailed description of the invention three the difference is that the track of vehicle smooth control method based on car networking towards fuel-economizing of, present embodiment, the rule that particular vehicle identification described in step 2 is followed includes:

Current vehicle arrives the relief area of control area；With

Previous vehicle can pass through crossing within the current green time cycle, and Current vehicle cannot pass through crossing in the green time of current period.

Detailed description of the invention five:

With detailed description of the invention one, two or four the difference is that the track of vehicle smooth control method based on car networking towards fuel-economizing of, present embodiment, the process identifying the particular vehicle in control area described in step 2 is,

The described track of vehicle smooth control method based on car networking towards fuel-economizing, is not that all vehicles in control area are controlled, because such calculating solving complexity is higher, and the technology of present stage can't reach.Therefore, in order to simplify this problem and don't lose too much systematic function, but identify particular vehicle, particular vehicle is controlled accordingly, other vehicles follow, according to vehicle-following theory, the process that particular vehicle travels, wherein, specifically comprising the following steps that of the particular vehicle in control area is identified

Step 2 one, detecting whether Current vehicle arrives control area by DSRC communication mode, if arriving, then utilizing GPS localization method to obtain the position of Current vehicle, speed and acceleration information；Otherwise repeat this step and continue through whether DSRC communication mode detection Current vehicle arrives control area；

The real time position of Current vehicle, speed and the acceleration information that step 2 two, crossing control centre obtain according to step 2 one, the driving trace of prediction vehicle, simultaneously according to signal timing dial information, it is judged that whether Current vehicle meets the rule that particular vehicle identification is followed

If not meeting, then Current vehicle normal through, vehicle is not controlled；

If meeting, then Current vehicle is carried out corresponding track of vehicle control.

Wherein, signal timing dial information refers to red light duration and the long green light time sum of traffic signal.

Detailed description of the invention six:

With detailed description of the invention five the difference is that, the track of vehicle smooth control method based on car networking towards fuel-economizing of present embodiment, calculate speed suggestion value described in step 3, and particular vehicle step 2 determined according to speed suggestion value carries out the process of track of vehicle control and is

Step 3 one, crossing control centre, according to information of vehicles and signal timing dial, utilize variable velocity method for limiting, smooth vehicle driving trace, calculate speed suggestion value；

Whether step 3 two, detection Current vehicle arrive deceleration area；

If so, then provide speed suggestion value by vehicle-mounted App for Current vehicle, remind driver by Current vehicle speed reduction to the speed specified；

If it is not, then continue to sail by the original traveling statusline of Current vehicle；

Whether step 3 three, detection Current vehicle arrive accelerating region；

If so, then provide speed suggestion value by vehicle-mounted App for Current vehicle, remind driver that Current vehicle speed accelerates to the speed of regulation；

If it is not, then continue to sail by the original traveling statusline of Current vehicle.

Detailed description of the invention seven:

With detailed description of the invention one, two, four or six the difference is that the track of vehicle smooth control method based on car networking towards fuel-economizing of, present embodiment, the process calculating speed suggestion value described in step 3 is:

Fig. 4 is the smooth schematic diagram of track of vehicle.In figure,

First, if control area total length is L, cushion head of district L₁, deceleration head of district L₂, accelerate head of district L₃；Signal period duration is C, and long green light time is Tg, and red light duration is Tr；The time of vehicle entrance control area is t_in；

Can obtain according to the time-space relationship in Fig. 4:

c₁-t₁=t_d+t_u+t_a+t′_u

In formula, t₁The time of deceleration area is arrived for Current vehicle；t_dDuration for Current vehicle deceleration took；t_uThe duration traveled at the uniform speed after slowing down for Current vehicle；t_aThe duration of cost is accelerated for Current vehicle；t′_uThe duration traveled at the uniform speed after accelerating for Current vehicle；c₁For period end time；

$\left\{\begin{array}{c}{L}_1=v_0(t_1-t_{in})\\ L_2=v_0{t}_d-\frac{1}{2}{{\mathrm{dt}}_d}^2+v_L{t}_u\\ L_3=v_L{t}_a+\frac{1}{2}{{\mathrm{at}}_a}^2+v_{\max }{t}_u^{\′}\end{array}\right.$

$c_1-t_{in}=\left(\frac{L_1}{v_0}\right)+\left(\frac{v_0-v_L}{d}\right)+(\frac{L_2}{v_L}-\frac{{v_0}^2-{v_L}^2}{2{\mathrm{dv}}_L})+\left(\frac{v_{max}-v_L}{a}\right)+(\frac{L_3}{v_{\max }}-\frac{{v_{\max }}^2-{v_L}^2}{2{\mathrm{av}}_{max}})$

In formula,The corresponding Current vehicle part by relief area；The corresponding Current vehicle part by deceleration area；The corresponding Current vehicle part by accelerating region；v_maxRepresent the max speed that deceleration area or accelerating region section allow；v₀Indicate entry into initial velocity during relief area；v_LRepresent speed limit；

Finally, Runge-Kutta is utilized to solve to obtain speed limit v_L。

Detailed description of the invention eight:

With detailed description of the invention two the difference is that the track of vehicle smooth control method based on car networking towards fuel-economizing of, present embodiment, the positioning precision that described GPS localization method relates to is less than 1 meter.

The present invention also can have other various embodiments; when without departing substantially from present invention spirit and essence thereof; those skilled in the art are when can make various corresponding change and deformation according to the present invention, but these change accordingly and deformation all should belong to the scope of the claims appended by the present invention.

Claims (8)

1. the track of vehicle smooth control method based on car networking towards fuel-economizing, it is characterised in that: described method is realized by following steps:

Step one, determining control area division methods, wherein control area division methods includes fundamental region and divides and control points optimization method；

Step 2, the rule followed according to particular vehicle identification, identify the particular vehicle in control area；

Step 3, calculate speed suggestion value, and particular vehicle step 2 determined according to speed suggestion value carries out track of vehicle control.

2. according to claim 1 towards the track of vehicle smooth control method based on car networking of fuel-economizing, it is characterised in that: the process that fundamental region described in step one divides is,

Utilize DSRC communication mode and GPS localization method to determine the span of control in crossing inlet road, control area is divided into relief area, deceleration area and accelerating region these three fundamental region simultaneously；Wherein,

The effect of relief area is that the communication between vehicle and infrastructure is tested, and predicts the driving trace of vehicle simultaneously, sets the length of relief area as L₁；

The effect of deceleration area is by providing speed suggestion value, guiding vehicle Reduced Speed Now to vehicle-mounted App, sets the length of deceleration area as L₂；

Accelerating region is by providing speed suggestion value to vehicle-mounted App, and guiding vehicle gives it the gun, and sets the length of accelerating region as L₃；

The total length in setup control region is L, then guarantee that the length of each fundamental region that vehicle has enough spaces to be accelerated and slow down is respectively as follows:

$L_2\≥\frac{v_{\max }^2}{2d}$

$L_3=\frac{v_{\max }^2}{2a}$

Three fundamental regions should belong in the span of control in master control region: L₁+L₂+L₃=L；

In formula, v_maxRepresent the max speed that deceleration area or accelerating region section allow；D represents the maximum deceleration that deceleration area section allows；A represents the peak acceleration that accelerating region section allows.

3. the track of vehicle smooth control method based on car networking towards fuel-economizing according to claim 1 or claim 2, it is characterised in that: the process determining control point method for optimizing position described in step one is,

Step one by one, introduce VT-micro Fuel consumption and discharge model, the fuel oil consumption of the rolling stock of crossing is calculated, computing formula is as follows:

$FC=\underset{n=1}{\overset{N}{\Σ}}\underset{{x_n}^{-1}\left(0\right)}{\overset{{x_n}^{-1}\left(L\right)}{\∫}}\exp \left\{\underset{i=0}{\overset{3}{\Σ}}\underset{j=0}{\overset{3}{\Σ}}{K}_{ij}{v_n}^i\left(t\right){a_n}^j\left(t\right)\right\}dt$

Wherein, VT-micro Fuel consumption and discharge model refer to the instantaneous velocity according to vehicle and its instantaneous oil consumption of acceleration calculation；Control point refers to the cut-point between relief area and deceleration area, the control point between deceleration area and accelerating region；

In formula, N is total vehicle number；x_n ^-1(0) represent that n-th car enters the time of the relief area of control area；x_n ^-1(L) represent that n-th car leaves the time of relief area；K is the constant coefficient matrix of 4 × 4；v_n ⁱT () represents n-th car i power in t speed；a_n ^jT () shows n-th car i power in t speed；

Step one two, utilize DIRECT optimized algorithm that the position at control point is optimized:

First, emulator exports the fuel consumption of the system at each candidate control point；

Second, based on the evaluation to fuel consumption, DIRECT algorithm finds out next feasible candidate point by the segmentation of multistage rectangle, until finding the position, control point of optimum；

Wherein, DIRECT optimizes and refers to that rectangle is split at last.

4. according to claim 3 towards the track of vehicle smooth control method based on car networking of fuel-economizing, it is characterised in that: the rule that particular vehicle identification described in step 2 is followed includes:

Current vehicle arrives the relief area of control area；With

Previous vehicle can pass through crossing within the current green time cycle, and Current vehicle cannot pass through crossing in the green time of current period.

5. towards the track of vehicle smooth control method based on car networking of fuel-economizing according to claim 1,2 or 4, it is characterised in that: the process identifying the particular vehicle in control area described in step 2 is,

The described track of vehicle smooth control method based on car networking towards fuel-economizing, it is identify particular vehicle, particular vehicle is controlled accordingly, other vehicles follow, according to vehicle-following theory, the process that particular vehicle travels, wherein, specifically comprising the following steps that of the particular vehicle in control area is identified

Step 2 one, detecting whether Current vehicle arrives control area by DSRC communication mode, if arriving, then utilizing GPS localization method to obtain the position of Current vehicle, speed and acceleration information；Otherwise repeat this step and continue through whether DSRC communication mode detection Current vehicle arrives control area；

The real time position of Current vehicle, speed and the acceleration information that step 2 two, crossing control centre obtain according to step 2 one, the driving trace of prediction vehicle, simultaneously according to signal timing dial information, it is judged that whether Current vehicle meets the rule that particular vehicle identification is followed

If not meeting, then Current vehicle normal through, vehicle is not controlled；

If meeting, then Current vehicle is carried out corresponding track of vehicle control；

Wherein, signal timing dial information refers to red light duration and the long green light time sum of traffic signal.

6. according to claim 5 towards the track of vehicle smooth control method based on car networking of fuel-economizing, it is characterized in that: described in step 3, calculate speed suggestion value, and particular vehicle step 2 determined according to speed suggestion value carries out the process of track of vehicle control and is

Step 3 one, crossing control centre, according to information of vehicles and signal timing dial, utilize variable velocity method for limiting, smooth vehicle driving trace, calculate speed suggestion value；

Whether step 3 two, detection Current vehicle arrive deceleration area；

If so, then for Current vehicle provide speed suggestion value, Current vehicle speed reduction to specify speed；

If it is not, then continue to sail by the original traveling statusline of Current vehicle；

Whether step 3 three, detection Current vehicle arrive accelerating region；

If so, then providing speed suggestion value for Current vehicle, Current vehicle speed accelerates to the speed of regulation；

If it is not, then continue to sail by the original traveling statusline of Current vehicle.

7. towards the track of vehicle smooth control method based on car networking of fuel-economizing according to claim 1,2,4 or 6, it is characterised in that: the process calculating speed suggestion value described in step 3 is:

First, if control area total length is L, cushion head of district L₁, deceleration head of district L₂, accelerate head of district L₃；Signal period duration is C, and long green light time is Tg, and red light duration is Tr；The time of vehicle entrance control area is t_in；

:

c₁-t₁=t_d+t_u+t_a+t′_u

In formula, t₁The time of deceleration area is arrived for Current vehicle；t_dDuration for Current vehicle deceleration took；t_uThe duration traveled at the uniform speed after slowing down for Current vehicle；t_aThe duration of cost is accelerated for Current vehicle；t′_uThe duration traveled at the uniform speed after accelerating for Current vehicle；c₁For period end time；

$\left\{\begin{array}{c}{L}_1=v_0(t_1-t_{in})\\ L_2=v_0{t}_d-\frac{1}{2}{{\mathrm{dt}}_d}^2+v_L{t}_u\\ L_3=v_L{t}_a+\frac{1}{2}{{\mathrm{at}}_a}^2+v_{\max }{t}_u^{\′}\end{array}\right.$

$c_1-t_{in}=\left(\frac{L_1}{v_0}\right)+\left(\frac{v_0-v_L}{d}\right)+\left(\frac{L_2}{v_L}-\frac{{v_0}^2-{v_L}^2}{2{\mathrm{dv}}_L}\right)+\left(\frac{v_{\max }-v_L}{a}\right)+\left(\frac{L_3}{v_{\max }}-\frac{{v_{\max }}^2-{v_L}^2}{2{\mathrm{av}}_{\max }}\right)$

In formula,The corresponding Current vehicle part by relief area；The corresponding Current vehicle part by deceleration area；The corresponding Current vehicle part by accelerating region；v_maxRepresent the max speed that deceleration area or accelerating region section allow；v₀Indicate entry into initial velocity during relief area；v_LRepresent speed limit；

Finally, Runge-Kutta is utilized to solve to obtain speed limit v_L。

8. according to claim 2 towards the track of vehicle smooth control method based on car networking of fuel-economizing, it is characterised in that: the positioning precision that described GPS localization method relates to is less than 1 meter.